{"id":"https://openalex.org/W2145925000","doi":"https://doi.org/10.1109/irds.2002.1041721","title":"Modeling of PWS mobile manipulator including slipping of carrying objects","display_name":"Modeling of PWS mobile manipulator including slipping of carrying objects","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2145925000","doi":"https://doi.org/10.1109/irds.2002.1041721","mag":"2145925000"},"language":"en","primary_location":{"id":"doi:10.1109/irds.2002.1041721","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1041721","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and System","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/A5102963090","display_name":"Takuya Ikeda","orcid":"https://orcid.org/0000-0002-3312-5120"},"institutions":[{"id":"https://openalex.org/I111966504","display_name":"University of Fukui","ror":"https://ror.org/00msqp585","country_code":"JP","type":"education","lineage":["https://openalex.org/I111966504"]},{"id":"https://openalex.org/I125590103","display_name":"Fukui University of Technology","ror":"https://ror.org/01tm0rr86","country_code":"JP","type":"education","lineage":["https://openalex.org/I125590103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Ikeda","raw_affiliation_strings":["Fukui University of Technology, Fukui, Japan","Fukui Univ., Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fukui University of Technology, Fukui, Japan","institution_ids":["https://openalex.org/I125590103"]},{"raw_affiliation_string":"Fukui Univ., Japan","institution_ids":["https://openalex.org/I111966504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073454546","display_name":"Mamoru Minami","orcid":null},"institutions":[{"id":"https://openalex.org/I111966504","display_name":"University of Fukui","ror":"https://ror.org/00msqp585","country_code":"JP","type":"education","lineage":["https://openalex.org/I111966504"]},{"id":"https://openalex.org/I125590103","display_name":"Fukui University of Technology","ror":"https://ror.org/01tm0rr86","country_code":"JP","type":"education","lineage":["https://openalex.org/I125590103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Minami","raw_affiliation_strings":["Fukui University of Technology, Fukui, Japan","Fukui Univ., Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fukui University of Technology, Fukui, Japan","institution_ids":["https://openalex.org/I125590103"]},{"raw_affiliation_string":"Fukui Univ., Japan","institution_ids":["https://openalex.org/I111966504"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8191,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.80676026,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"2955","last_page":"2960"},"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":0.9986000061035156,"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":0.9976000189781189,"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/slipping","display_name":"Slipping","score":0.9913792610168457},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6685299873352051},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.6515222191810608},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6039824485778809},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5813360214233398},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.547224223613739},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5195713043212891},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.5111730694770813},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3978427052497864},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3535912036895752},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31133610010147095},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2041698694229126},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16089433431625366},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.12785109877586365},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09120804071426392}],"concepts":[{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.9913792610168457},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6685299873352051},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.6515222191810608},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6039824485778809},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5813360214233398},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.547224223613739},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5195713043212891},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.5111730694770813},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3978427052497864},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3535912036895752},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31133610010147095},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2041698694229126},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16089433431625366},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.12785109877586365},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09120804071426392},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"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/irds.2002.1041721","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1041721","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and System","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":4,"referenced_works":["https://openalex.org/W1966552874","https://openalex.org/W2084394048","https://openalex.org/W2088363200","https://openalex.org/W2565210018"],"related_works":["https://openalex.org/W2005824415","https://openalex.org/W2372999110","https://openalex.org/W3136493222","https://openalex.org/W65309699","https://openalex.org/W2997803326","https://openalex.org/W2021013972","https://openalex.org/W3176430321","https://openalex.org/W2394269979","https://openalex.org/W4312935962","https://openalex.org/W1988042083"],"abstract_inverted_index":{"Force":[0],"and":[1,21,30,76,138],"torque":[2,22],"induced":[3,18],"by":[4],"motions":[5],"of":[6,46,54,61,66,82,110,123,134],"a":[7,88,103,108],"mobile":[8,39,68,93,117],"manipulator":[9,94,118],"affect":[10],"dynamically":[11],"the":[12,17,26,32,38,42,44,52,59,64,67,92,97,120,128,131,139],"objects":[13,34,99],"being":[14],"carried.":[15],"If":[16],"inertia":[19],"force":[20,29],"are":[23,136],"bigger":[24],"than":[25],"static":[27],"friction":[28],"torque,":[31],"carrying":[33,48,56,98,125],"start":[35,60],"slipping":[36,62,121,135],"on":[37],"manipulator.":[40],"As":[41,102],"result,":[43],"movement":[45],"one":[47],"object":[49],"may":[50],"cause":[51],"collapse":[53],"all":[55],"objects,":[57],"since":[58],"makes":[63],"acceleration":[65],"robot":[69],"increase,":[70],"interferes":[71],"with":[72],"accurate":[73],"traveling":[74],"operations":[75],"is":[77,85,141],"dangerous.":[78],"The":[79],"final":[80],"purpose":[81],"this":[83],"research":[84],"to":[86],"propose":[87,107],"navigation":[89],"controller":[90],"for":[91],"that":[95],"prevents":[96],"from":[100],"slipping.":[101],"first":[104],"step,":[105],"we":[106],"model":[109,140],"an":[111],"n-link":[112],"Power":[113],"Wheeled":[114],"Steering":[115],"(PWS)":[116],"including":[119],"motion":[122],"many":[124],"objects.":[126],"Using":[127],"proposed":[129],"model,":[130],"dynamical":[132],"influences":[133],"analyzed":[137],"justified":[142],"through":[143],"several":[144],"simulations.":[145]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}