{"id":"https://openalex.org/W2033070241","doi":"https://doi.org/10.1109/iecon.2013.6700214","title":"Proposal of step climbing of wheeled robot using slip ratio control","display_name":"Proposal of step climbing of wheeled robot using slip ratio control","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2033070241","doi":"https://doi.org/10.1109/iecon.2013.6700214","mag":"2033070241"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2013.6700214","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2013.6700214","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"},"type":"conference-paper","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/A5027103708","display_name":"Masaki Higashino","orcid":null},"institutions":[{"id":"https://openalex.org/I4210099214","display_name":"The Institute of Energy Economics, Japan","ror":"https://ror.org/0109zs540","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210099214"]},{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaki Higashino","raw_affiliation_strings":["Department of Advanced Energy, The University of Tokyo, Kashiwa, Chiba, Japan","[Department of Advanced Energy, University of Tokyo, Kashiwa, Japan]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Energy, The University of Tokyo, Kashiwa, Chiba, Japan","institution_ids":["https://openalex.org/I4210099214","https://openalex.org/I74801974"]},{"raw_affiliation_string":"[Department of Advanced Energy, University of Tokyo, Kashiwa, Japan]","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013219761","display_name":"Hiroshi Fujimoto","orcid":"https://orcid.org/0000-0002-0979-5992"},"institutions":[{"id":"https://openalex.org/I4210099214","display_name":"The Institute of Energy Economics, Japan","ror":"https://ror.org/0109zs540","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210099214"]},{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Fujimoto","raw_affiliation_strings":["Department of Advanced Energy, The University of Tokyo, Kashiwa, Chiba, Japan","[Department of Advanced Energy, University of Tokyo, Kashiwa, Japan]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Energy, The University of Tokyo, Kashiwa, Chiba, Japan","institution_ids":["https://openalex.org/I4210099214","https://openalex.org/I74801974"]},{"raw_affiliation_string":"[Department of Advanced Energy, University of Tokyo, Kashiwa, Japan]","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112843409","display_name":"Yoshiyasu Takase","orcid":null},"institutions":[{"id":"https://openalex.org/I119487337","display_name":"Yaskawa Electric (Japan)","ror":"https://ror.org/037qwc103","country_code":"JP","type":"company","lineage":["https://openalex.org/I119487337"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshiyasu Takase","raw_affiliation_strings":["Corporate R&D Center, YASKAWA ELECTRIC CORPORATION, Fukuoka, Japan","Corp. R&D Center, Yaskawa Electr. Corp., Fukuoka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Corporate R&D Center, YASKAWA ELECTRIC CORPORATION, Fukuoka, Japan","institution_ids":["https://openalex.org/I119487337"]},{"raw_affiliation_string":"Corp. R&D Center, Yaskawa Electr. Corp., Fukuoka, Japan","institution_ids":["https://openalex.org/I119487337"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090578339","display_name":"Hiroshi Nakamura","orcid":"https://orcid.org/0009-0005-6505-1903"},"institutions":[{"id":"https://openalex.org/I119487337","display_name":"Yaskawa Electric (Japan)","ror":"https://ror.org/037qwc103","country_code":"JP","type":"company","lineage":["https://openalex.org/I119487337"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Nakamura","raw_affiliation_strings":["Corporate R&D Center, YASKAWA ELECTRIC CORPORATION, Fukuoka, Japan","Corp. R&D Center, Yaskawa Electr. Corp., Fukuoka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Corporate R&D Center, YASKAWA ELECTRIC CORPORATION, Fukuoka, Japan","institution_ids":["https://openalex.org/I119487337"]},{"raw_affiliation_string":"Corp. R&D Center, Yaskawa Electr. Corp., Fukuoka, Japan","institution_ids":["https://openalex.org/I119487337"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6287,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.64589218,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"6545","last_page":"6550"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9994999766349792,"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":0.9955999851226807,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.8109006881713867},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6438608765602112},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.5821486711502075},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5678998827934265},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.47768694162368774},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.4774932563304901},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.47383981943130493},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43883028626441956},{"id":"https://openalex.org/keywords/slip-ratio","display_name":"Slip ratio","score":0.41814738512039185},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4126794636249542},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.3795585036277771},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35636138916015625},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3045896291732788},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1918564736843109},{"id":"https://openalex.org/keywords/brake","display_name":"Brake","score":0.16979458928108215},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.16145187616348267},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0906660258769989},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08800974488258362}],"concepts":[{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.8109006881713867},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6438608765602112},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.5821486711502075},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5678998827934265},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.47768694162368774},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.4774932563304901},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.47383981943130493},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43883028626441956},{"id":"https://openalex.org/C139166363","wikidata":"https://www.wikidata.org/wiki/Q7540858","display_name":"Slip ratio","level":3,"score":0.41814738512039185},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4126794636249542},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3795585036277771},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35636138916015625},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3045896291732788},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1918564736843109},{"id":"https://openalex.org/C2780999251","wikidata":"https://www.wikidata.org/wiki/Q17022503","display_name":"Brake","level":2,"score":0.16979458928108215},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.16145187616348267},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0906660258769989},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08800974488258362},{"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/iecon.2013.6700214","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2013.6700214","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","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":13,"referenced_works":["https://openalex.org/W1485480541","https://openalex.org/W1994237395","https://openalex.org/W1996734193","https://openalex.org/W2000909994","https://openalex.org/W2027758424","https://openalex.org/W2041624930","https://openalex.org/W2113461183","https://openalex.org/W2131031460","https://openalex.org/W2136991897","https://openalex.org/W2149655703","https://openalex.org/W2656932964","https://openalex.org/W3043047027","https://openalex.org/W6657371609"],"related_works":["https://openalex.org/W2531085753","https://openalex.org/W2128642449","https://openalex.org/W2047906244","https://openalex.org/W3033258505","https://openalex.org/W1975577234","https://openalex.org/W2994048156","https://openalex.org/W4312873346","https://openalex.org/W2076864989","https://openalex.org/W2059850776","https://openalex.org/W2083655247"],"abstract_inverted_index":{"This":[0,37],"paper":[1,38],"proposes":[2,39],"a":[3,11,40],"method":[4,41,71],"which":[5],"enables":[6],"wheeled":[7],"robot":[8],"to":[9,53],"climb":[10],"step":[12,52],"that":[13],"is":[14,26,34,72],"higher":[15],"than":[16],"the":[17,20,43,48,51,55,60,64,69],"radius":[18],"of":[19,31,45,63,68],"wheel.":[21,66],"In":[22],"conventional":[23],"method,":[24],"this":[25],"impossible,":[27],"because":[28],"driving":[29,61],"force":[30,62],"front":[32,65],"wheel":[33,49],"not":[35],"enough.":[36],"utilizing":[42],"moment":[44],"impact":[46],"between":[47],"and":[50,58,76],"maximize":[54],"normal":[56],"force,":[57],"hence":[59],"Effectiveness":[67],"proposed":[70],"verified":[73],"by":[74],"simulations":[75],"experiments.":[77]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
