{"id":"https://openalex.org/W2149655703","doi":"https://doi.org/10.1109/iros.2007.4399168","title":"Wheeled robot with movable center of mass for traversing over rough terrain","display_name":"Wheeled robot with movable center of mass for traversing over rough terrain","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2149655703","doi":"https://doi.org/10.1109/iros.2007.4399168","mag":"2149655703"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399168","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399168","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 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/A5003820252","display_name":"Sousuke Nakamura","orcid":"https://orcid.org/0000-0002-0014-2012"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Sousuke Nakamura","raw_affiliation_strings":["ISAS/JAXA, Japan"],"affiliations":[{"raw_affiliation_string":"ISAS/JAXA, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016708773","display_name":"M. Faragalli","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Michele Faragalli","raw_affiliation_strings":["ISAS/JAXA, Japan"],"affiliations":[{"raw_affiliation_string":"ISAS/JAXA, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061275111","display_name":"Noriaki Mizukami","orcid":"https://orcid.org/0000-0002-2246-5672"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Noriaki Mizukami","raw_affiliation_strings":["ISAS/JAXA, Japan"],"affiliations":[{"raw_affiliation_string":"ISAS/JAXA, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108747917","display_name":"Ichiro Nakatani","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ichiro Nakatani","raw_affiliation_strings":["ISAS/JAXA, Japan"],"affiliations":[{"raw_affiliation_string":"ISAS/JAXA, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112662257","display_name":"Yasuharu Kunii","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yasuharu Kunii","raw_affiliation_strings":["ISAS/JAXA, Japan"],"affiliations":[{"raw_affiliation_string":"ISAS/JAXA, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107726162","display_name":"Takashi Kubota","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Takashi Kubota","raw_affiliation_strings":["ISAS/JAXA, Japan"],"affiliations":[{"raw_affiliation_string":"ISAS/JAXA, Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5003820252"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.3057,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.81361485,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"108","issue":null,"first_page":"1228","last_page":"1233"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9958999752998352,"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":0.9958999752998352,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9907000064849854,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9890999794006348,"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/traverse","display_name":"Traverse","score":0.9820766448974609},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8715026378631592},{"id":"https://openalex.org/keywords/center-of-mass","display_name":"Center of mass (relativistic)","score":0.6962189674377441},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5948153734207153},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5466204285621643},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4949488043785095},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46407487988471985},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.44583606719970703},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42132604122161865},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.4174310564994812},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.3516295552253723},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.3185625672340393},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28452223539352417},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24336296319961548},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20094910264015198},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.17427971959114075},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08023709058761597}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.9820766448974609},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8715026378631592},{"id":"https://openalex.org/C36185635","wikidata":"https://www.wikidata.org/wiki/Q17006925","display_name":"Center of mass (relativistic)","level":3,"score":0.6962189674377441},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5948153734207153},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5466204285621643},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4949488043785095},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46407487988471985},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.44583606719970703},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42132604122161865},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.4174310564994812},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3516295552253723},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.3185625672340393},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28452223539352417},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24336296319961548},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20094910264015198},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.17427971959114075},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08023709058761597},{"id":"https://openalex.org/C47513753","wikidata":"https://www.wikidata.org/wiki/Q3502299","display_name":"Energy\u2013momentum relation","level":2,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2007.4399168","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399168","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":8,"referenced_works":["https://openalex.org/W180827357","https://openalex.org/W1502875864","https://openalex.org/W1569905401","https://openalex.org/W2156805366","https://openalex.org/W3171781940","https://openalex.org/W6607433589","https://openalex.org/W6634100635","https://openalex.org/W6797132191"],"related_works":["https://openalex.org/W4294690775","https://openalex.org/W4200195314","https://openalex.org/W4389574494","https://openalex.org/W2156329176","https://openalex.org/W4226458444","https://openalex.org/W3213331859","https://openalex.org/W4390637946","https://openalex.org/W2909067415","https://openalex.org/W4226082913","https://openalex.org/W2113164274"],"abstract_inverted_index":{"Planetary":[0],"exploration":[1],"requires":[2],"rovers":[3,20],"to":[4,14,22,47,54,72,129],"perform":[5],"a":[6,39,127],"variety":[7],"of":[8,43,70,133,144,210],"challenging":[9],"tasks":[10],"autonomously.":[11],"In":[12],"order":[13,46],"complete":[15],"relevant":[16],"scientific":[17],"mission,":[18],"these":[19],"need":[21],"overcome":[23],"difficulty":[24],"for":[25,67,122,166,201],"rough":[26,51,203],"terrain":[27,204],"traversing":[28,50,202,213],"by":[29,77],"\"online":[30],"methods\".":[31],"This":[32],"paper":[33,196],"discusses":[34],"an":[35],"idea":[36],"that":[37,110,140,205],"utilizes":[38],"rover":[40,62],"mobile":[41],"center":[42,69,132,209],"mass":[44,71,134,211],"in":[45,49,103,141],"aid":[48],"terrain.":[52,215],"According":[53],"vehicle":[55],"pitch":[56],"angle":[57,95],"and":[58,92,119,125,153,162,179],"contact":[59],"angles,":[60],"the":[61,64,68,74,81,86,111,142,147,150,154,163,168,177,180,207,214],"recalculates":[63],"optimal":[65,131,208],"position":[66],"minimize":[73],"indicator":[75,124],"defined":[76],"two":[78,116],"factors":[79],":":[80],"wheel":[82,87,152,156,182],"driving":[83,169],"force":[84,89,175,191],"over":[85],"normal":[88],"(adhesion":[90],"coefficient)":[91],"tip-over":[93],"stability":[94,120],"(stability":[96],"coefficient).":[97],"Two":[98],"innovative":[99],"approaches":[100],"are":[101],"developed":[102],"this":[104,189,195],"paper.":[105],"The":[106,136,186],"first":[107],"one":[108,138],"is":[109,139,159],"authors":[112,187],"defines":[113],"easily":[114,160],"comprehensible":[115],"factors,":[117],"adhesion":[118,157,183],"coefficients":[121],"traversability":[123],"proposes":[126],"method":[128],"calculate":[130],"position.":[135],"second":[137],"case":[143,165],"four-wheels":[145],"drive,":[146],"relation":[148],"between":[149],"front":[151,178],"rear":[155,181],"coefficient":[158,184],"solved":[161,173],"best":[164],"giving":[167],"forces":[170],"can":[171],"be":[172],"as":[174],"making":[176],"equal.":[185],"call":[188],"\"optimal":[190],"distribution":[192],"method\".":[193],"Finally,":[194],"shows":[197],"some":[198],"simulation":[199],"results":[200],"compute":[206],"while":[212]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
