{"id":"https://openalex.org/W2144157125","doi":"https://doi.org/10.1109/iros.2004.1389608","title":"Dynamic modeling and load distribution algorithm of a trailer type mobile robot","display_name":"Dynamic modeling and load distribution algorithm of a trailer type mobile robot","publication_year":2005,"publication_date":"2005-04-01","ids":{"openalex":"https://openalex.org/W2144157125","doi":"https://doi.org/10.1109/iros.2004.1389608","mag":"2144157125"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2004.1389608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389608","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","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/A5059304389","display_name":"Jae Yong Han","orcid":"https://orcid.org/0000-0003-3413-3277"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jae-Yong Han","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, Hanyang University, Ansan, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Hanyang University, Ansan, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089404287","display_name":"Byung-Ju Yi","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byung-Ju Yi","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, Hanyang University, Ansan, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Hanyang University, Ansan, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021079573","display_name":"Wheekuk Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Whee-Kuk Kim","raw_affiliation_strings":["Department of Control and Instrumentation, Korea University, Chungnam, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Control and Instrumentation, Korea University, Chungnam, South Korea","institution_ids":["https://openalex.org/I197347611"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5059304389"],"corresponding_institution_ids":["https://openalex.org/I4575257"],"apc_list":null,"apc_paid":null,"fwci":0.958,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.81996823,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"1499","last_page":"1504"},"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":1.0,"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":1.0,"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":0.9991999864578247,"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":0.9975000023841858,"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/trailer","display_name":"Trailer","score":0.8835104703903198},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8365805149078369},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.7318733930587769},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6973013877868652},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5880241990089417},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5537242293357849},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5516876578330994},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.46699586510658264},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.45651718974113464},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44874757528305054},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.41735705733299255},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3452960252761841},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18684116005897522},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15781202912330627},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11064058542251587},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10782194137573242}],"concepts":[{"id":"https://openalex.org/C2779101595","wikidata":"https://www.wikidata.org/wiki/Q7832787","display_name":"Trailer","level":2,"score":0.8835104703903198},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8365805149078369},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.7318733930587769},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6973013877868652},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5880241990089417},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5537242293357849},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5516876578330994},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.46699586510658264},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45651718974113464},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44874757528305054},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.41735705733299255},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3452960252761841},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18684116005897522},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15781202912330627},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11064058542251587},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10782194137573242},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2004.1389608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389608","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","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":15,"referenced_works":["https://openalex.org/W849338618","https://openalex.org/W1498102064","https://openalex.org/W1842503279","https://openalex.org/W1937005710","https://openalex.org/W2096395363","https://openalex.org/W2115498595","https://openalex.org/W2129995200","https://openalex.org/W2133361850","https://openalex.org/W2143030465","https://openalex.org/W2147248568","https://openalex.org/W2245448729","https://openalex.org/W2565505720","https://openalex.org/W6640464646","https://openalex.org/W6680942216","https://openalex.org/W6690854802"],"related_works":["https://openalex.org/W2383775285","https://openalex.org/W2766493616","https://openalex.org/W2544369928","https://openalex.org/W2005471069","https://openalex.org/W2010618743","https://openalex.org/W1880935057","https://openalex.org/W4206303049","https://openalex.org/W2743986139","https://openalex.org/W2349125042","https://openalex.org/W2186356355"],"abstract_inverted_index":{"Trailer":[0],"type":[1,38],"mobile":[2,39],"robots":[3],"have":[4],"been":[5],"studied":[6],"from":[7],"the":[8,36,64,72,75,82,91,95,101,105,116,130,136,149,152],"viewpoint":[9],"of":[10,14,49,66,135,151],"control":[11],"and":[12,28,74,94,119,155],"design":[13],"nonholonomic":[15],"mechanical":[16],"systems":[17],"in":[18],"literature.":[19],"However,":[20],"researches":[21],"for":[22],"its":[23,52],"detailed":[24],"closed":[25,60],"form":[26],"kinematic":[27,54,88,154],"dynamic":[29,111,143,156],"modeling":[30],"are":[31],"rarely":[32],"being":[33],"progressed.":[34],"Though":[35],"trailer":[37,68,93],"robot":[40],"is":[41,56,69,79,98,113,123,145],"shaped":[42],"like":[43],"a":[44,59],"kinematically":[45],"redundant":[46],"system":[47,62,137],"consisting":[48],"surplus":[50],"joints,":[51],"actual":[53],"characteristic":[55],"similar":[57],"to":[58,71,139,147],"chain":[61],"since":[63],"motion":[65,78],"every":[67],"constrained":[70],"ground":[73],"following":[76,96],"trailers'":[77],"dependent":[80],"on":[81],"leading":[83,92],"trailer's":[84],"motion.":[85],"The":[86],"exact":[87],"relationship":[89],"between":[90],"trailers":[97],"derived":[99,114],"by":[100],"transfer":[102],"method":[103],"using":[104,115],"augmented":[106],"generalized":[107],"coordinates.":[108],"A":[109],"general":[110],"model":[112],"Lagrangian":[117],"approach":[118,132],"load":[120,138],"distribution":[121,134],"algorithm":[122],"suggested.":[124],"It":[125],"can":[126],"be":[127],"seen":[128],"that":[129],"proposed":[131],"facilitates":[133],"all":[140],"trailers.":[141],"Forward":[142],"simulation":[144],"conducted":[146],"verify":[148],"effectiveness":[150],"suggested":[153],"models.":[157]},"counts_by_year":[{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}