{"id":"https://openalex.org/W4401414579","doi":"https://doi.org/10.1109/icra57147.2024.10610920","title":"Mechanical Design and Kinematics of a Multimodal Two-wheeled Robot","display_name":"Mechanical Design and Kinematics of a Multimodal Two-wheeled Robot","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414579","doi":"https://doi.org/10.1109/icra57147.2024.10610920"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610920","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10610920","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049844312","display_name":"Botian Sun","orcid":"https://orcid.org/0000-0001-5503-242X"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Botian Sun","raw_affiliation_strings":["Peking University,College of Engineering,Department of Advanced Manufacturing and Robotics,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Peking University,College of Engineering,Department of Advanced Manufacturing and Robotics,Beijing,China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111284141","display_name":"Qinglin Lang","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinglin Lang","raw_affiliation_strings":["Peking University,College of Engineering,Department of Advanced Manufacturing and Robotics,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Peking University,College of Engineering,Department of Advanced Manufacturing and Robotics,Beijing,China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107944876","display_name":"Ming-He Li","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minghe Li","raw_affiliation_strings":["Peking University,College of Engineering,Department of Advanced Manufacturing and Robotics,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Peking University,College of Engineering,Department of Advanced Manufacturing and Robotics,Beijing,China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100451938","display_name":"Xuefeng Wang","orcid":"https://orcid.org/0000-0001-5775-408X"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuefeng Wang","raw_affiliation_strings":["Peking University,College of Engineering,Department of Advanced Manufacturing and Robotics,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Peking University,College of Engineering,Department of Advanced Manufacturing and Robotics,Beijing,China","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5049844312"],"corresponding_institution_ids":["https://openalex.org/I20231570"],"apc_list":null,"apc_paid":null,"fwci":0.3495,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.57275249,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"11398","last_page":"11404"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.755790114402771},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5919793844223022},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5380679368972778},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.48533812165260315},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4381200075149536},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.42996081709861755},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.364810049533844},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29544925689697266},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09986358880996704}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.755790114402771},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5919793844223022},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5380679368972778},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.48533812165260315},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4381200075149536},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.42996081709861755},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.364810049533844},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29544925689697266},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09986358880996704},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610920","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10610920","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1633716829","https://openalex.org/W1983202430","https://openalex.org/W2005646342","https://openalex.org/W2008235203","https://openalex.org/W2011747427","https://openalex.org/W2017792809","https://openalex.org/W2046387417","https://openalex.org/W2073924944","https://openalex.org/W2120499270","https://openalex.org/W2123462979","https://openalex.org/W2126826364","https://openalex.org/W2134525555","https://openalex.org/W2145311131","https://openalex.org/W2149012351","https://openalex.org/W2267054612","https://openalex.org/W2407450453","https://openalex.org/W2658102606","https://openalex.org/W2978736202","https://openalex.org/W3034580387","https://openalex.org/W4285120533","https://openalex.org/W6604969532"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W2122871747","https://openalex.org/W1996912299","https://openalex.org/W4235013387","https://openalex.org/W2972304526","https://openalex.org/W2119963650"],"abstract_inverted_index":{"A":[0,117,138],"two-wheeled":[1,35,97,146],"vehicle":[2,27,123,136],"has":[3,16],"a":[4,96,172],"compact":[5],"structure":[6],"and":[7,12,25,37,48,112,134,150,168],"high":[8,47],"mobility":[9],"in":[10,20,72,87],"crowded":[11],"complex":[13],"environments,":[14],"which":[15,85],"been":[17],"widely":[18],"used":[19,126],"urban":[21],"logistics.":[22],"The":[23],"bicycle":[24,133],"self-balancing":[26,135],"are":[28,59,80,155,166,181],"the":[29,34,65,70,77,91,129,132,145,151,178,186],"two":[30,55,66],"main":[31],"modes":[32,67],"of":[33,90,104,131,177],"vehicle,":[36],"their":[38,73],"combination":[39],"allows":[40],"for":[41,82,144],"good":[42],"balance-control":[43],"stability":[44],"at":[45],"both":[46],"low":[49],"speeds.":[50],"Four":[51],"control":[52,78,164],"inputs":[53,79,111],"by":[54,184],"steerable":[56],"driving":[57],"wheels":[58],"required":[60],"to":[61,69,109,114,127],"implement":[62],"transformations":[63,176],"between":[64],"due":[68],"difference":[71],"configuration":[74],"spaces.":[75],"However,":[76],"redundant":[81],"planar":[83,148],"motions,":[84,149],"results":[86],"an":[88,100],"over-constraint":[89],"vehicle.":[92],"In":[93],"this":[94],"work,":[95],"robot":[98],"with":[99,158],"additional":[101],"structural":[102],"degree":[103],"freedom":[105],"(DOF)":[106],"is":[107,125,142],"designed":[108],"balance":[110],"DOFs":[113],"avoid":[115],"over-constraint.":[116],"transition":[118],"mode":[119],"based":[120],"on":[121,171],"oblique":[122],"motions":[124,180],"bridge":[128],"transformation":[130],"modes.":[137],"general":[139],"kinematic":[140],"model":[141],"developed":[143,167],"robot\u2019s":[147],"three":[152],"modes\u2019":[153],"kinematics":[154],"special":[156],"cases":[157],"particular":[159],"servo":[160],"constraints.":[161],"Structural":[162],"DOF":[163],"laws":[165],"experimentally":[169],"validated":[170,183],"prototype":[173],"robot.":[174],"Smooth":[175],"multimodal":[179],"also":[182],"using":[185],"prototype.":[187]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}
