{"id":"https://openalex.org/W2014468219","doi":"https://doi.org/10.1109/iros.2005.1545385","title":"Omnidirectional mobile robots with powered caster wheels: design guidelines from kinematic isotropy analysis","display_name":"Omnidirectional mobile robots with powered caster wheels: design guidelines from kinematic isotropy analysis","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W2014468219","doi":"https://doi.org/10.1109/iros.2005.1545385","mag":"2014468219"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2005.1545385","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545385","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5004224258","display_name":"Denny Oetomo","orcid":"https://orcid.org/0000-0002-2680-6489"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"D. Oetomo","raw_affiliation_strings":["Robotics & Mechatronics Research Lab, Department of Mechanical Engineering, Monash University, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics & Mechatronics Research Lab, Department of Mechanical Engineering, Monash University, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010348226","display_name":"Yuan Ping Li","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yuan Ping Li","raw_affiliation_strings":["National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064469965","display_name":"Marcelo H. Ang","orcid":"https://orcid.org/0000-0001-8277-6408"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"M.H. Ang","raw_affiliation_strings":["National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112901728","display_name":"Chee Wang Lim","orcid":null},"institutions":[{"id":"https://openalex.org/I4210091207","display_name":"Singapore Institute of Manufacturing Technology","ror":"https://ror.org/00f44np30","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I4210091207","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chee Wang Lim","raw_affiliation_strings":["Singapore Institute of Manufacturing Technology, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore Institute of Manufacturing Technology, Singapore","institution_ids":["https://openalex.org/I4210091207"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.8225,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.95118797,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3034","last_page":"3039"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9983000159263611,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/caster","display_name":"Caster","score":0.8019161224365234},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7672592401504517},{"id":"https://openalex.org/keywords/isotropy","display_name":"Isotropy","score":0.6868877410888672},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6150218844413757},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.5983515977859497},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.564085841178894},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48780205845832825},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.4517502188682556},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.43313995003700256},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4072721600532532},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3712270259857178},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33018410205841064},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1724836230278015},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13371780514717102},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1307094693183899},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10234841704368591},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09687861800193787}],"concepts":[{"id":"https://openalex.org/C59361812","wikidata":"https://www.wikidata.org/wiki/Q1534874","display_name":"Caster","level":2,"score":0.8019161224365234},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7672592401504517},{"id":"https://openalex.org/C184050105","wikidata":"https://www.wikidata.org/wiki/Q273163","display_name":"Isotropy","level":2,"score":0.6868877410888672},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6150218844413757},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.5983515977859497},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.564085841178894},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48780205845832825},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.4517502188682556},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.43313995003700256},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4072721600532532},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3712270259857178},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33018410205841064},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1724836230278015},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13371780514717102},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1307094693183899},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10234841704368591},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09687861800193787},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2005.1545385","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545385","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/73705","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/73705","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1928310290","https://openalex.org/W2003531964","https://openalex.org/W2049410986","https://openalex.org/W2073924944","https://openalex.org/W2085545845","https://openalex.org/W2100214048","https://openalex.org/W2115963790","https://openalex.org/W2138505136","https://openalex.org/W2140757324","https://openalex.org/W2142032247","https://openalex.org/W2146475250","https://openalex.org/W2149012351","https://openalex.org/W2153583470","https://openalex.org/W2168108948","https://openalex.org/W2172226276","https://openalex.org/W4248568464","https://openalex.org/W6682762687","https://openalex.org/W6685369231"],"related_works":["https://openalex.org/W4241731252","https://openalex.org/W2665844835","https://openalex.org/W2383085052","https://openalex.org/W2079363458","https://openalex.org/W3138687871","https://openalex.org/W2321026875","https://openalex.org/W2047372571","https://openalex.org/W3142133240","https://openalex.org/W806709805","https://openalex.org/W2402852349"],"abstract_inverted_index":{"Kinematic":[0],"isotropy":[1],"of":[2,19,37,40,47],"omnidirectional":[3],"mobile":[4],"robots":[5],"with":[6],"powered":[7],"caster":[8],"wheels":[9],"is":[10,24,60],"discussed":[11],"and":[12],"utilized":[13],"in":[14],"optimizing":[15],"the":[16,20,28,34,38,64,74],"design":[17,54,66],"parameters":[18,49],"robots.":[21],"The":[22],"analysis":[23,59],"done":[25],"to":[26,62,72],"cover":[27],"most":[29],"general":[30],"cases,":[31],"by":[32,44],"observing":[33],"mathematical":[35],"expression":[36],"equations":[39],"motion":[41],"rather":[42],"than":[43],"numerical":[45],"evaluation":[46],"specific":[48],"or":[50],"actuation":[51],"schemes.":[52],"Optimal":[53],"guidelines":[55],"are":[56,70],"provided.":[57],"Singularity":[58],"given":[61],"support":[63],"proposed":[65],"guidelines.":[67],"Simulation":[68],"results":[69],"presented":[71],"verify":[73],"conclusions":[75],"drawn.":[76]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}