{"id":"https://openalex.org/W2166601553","doi":"https://doi.org/10.1109/iros.2008.4650759","title":"Elastic locomotion of a four steered mobile robot","display_name":"Elastic locomotion of a four steered mobile robot","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2166601553","doi":"https://doi.org/10.1109/iros.2008.4650759","mag":"2166601553"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2008.4650759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650759","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 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/A5024678920","display_name":"Michel Lauria","orcid":"https://orcid.org/0000-0002-1412-0973"},"institutions":[{"id":"https://openalex.org/I135117807","display_name":"Universit\u00e9 de Sherbrooke","ror":"https://ror.org/00kybxq39","country_code":"CA","type":"education","lineage":["https://openalex.org/I135117807"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"M. Lauria","raw_affiliation_strings":["Department of Electrical Engineering and Computer Engineering, Universit\u00e9 de Sherbrook, Quebec, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Engineering, Universit\u00e9 de Sherbrook, Quebec, Canada","institution_ids":["https://openalex.org/I135117807"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039171860","display_name":"Fran\u00e7ois Michaud","orcid":"https://orcid.org/0000-0002-3639-7770"},"institutions":[{"id":"https://openalex.org/I135117807","display_name":"Universit\u00e9 de Sherbrooke","ror":"https://ror.org/00kybxq39","country_code":"CA","type":"education","lineage":["https://openalex.org/I135117807"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"F. Michaud","raw_affiliation_strings":["Canada Research Chair (CRC) in Mobile Robotics and Autonomous Intelligent Systems, Universit\u00e9 Sherbrooke, Quebec, Canada"],"affiliations":[{"raw_affiliation_string":"Canada Research Chair (CRC) in Mobile Robotics and Autonomous Intelligent Systems, Universit\u00e9 Sherbrooke, Quebec, Canada","institution_ids":["https://openalex.org/I135117807"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073772273","display_name":"Marc-Antoine Legault","orcid":null},"institutions":[{"id":"https://openalex.org/I135117807","display_name":"Universit\u00e9 de Sherbrooke","ror":"https://ror.org/00kybxq39","country_code":"CA","type":"education","lineage":["https://openalex.org/I135117807"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"M.-A. Legault","raw_affiliation_strings":["Department of Electrical Engineering and Computer Engineering, Universit\u00e9 Sherbrooke, Quebec, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Engineering, Universit\u00e9 Sherbrooke, Quebec, Canada","institution_ids":["https://openalex.org/I135117807"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054826682","display_name":"Dominic L\u00e9tourneau","orcid":"https://orcid.org/0000-0001-7825-7533"},"institutions":[{"id":"https://openalex.org/I135117807","display_name":"Universit\u00e9 de Sherbrooke","ror":"https://ror.org/00kybxq39","country_code":"CA","type":"education","lineage":["https://openalex.org/I135117807"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"D. Letourneau","raw_affiliation_strings":["Department of Electrical Engineering and Computer Engineering, Universit\u00e9 Sherbrooke, Quebec, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Engineering, Universit\u00e9 Sherbrooke, Quebec, Canada","institution_ids":["https://openalex.org/I135117807"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082199932","display_name":"Philippe R\u00e9tornaz","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"P. Retornaz","raw_affiliation_strings":["Department of Microtechnics, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Department of Microtechnics, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060437204","display_name":"Isabelle Nadeau","orcid":null},"institutions":[{"id":"https://openalex.org/I135117807","display_name":"Universit\u00e9 de Sherbrooke","ror":"https://ror.org/00kybxq39","country_code":"CA","type":"education","lineage":["https://openalex.org/I135117807"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"I. Nadeau","raw_affiliation_strings":["Department of Electrical Engineering and Computer Engineering, Universit\u00e9 Sherbrooke, Quebec, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Engineering, Universit\u00e9 Sherbrooke, Quebec, Canada","institution_ids":["https://openalex.org/I135117807"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066223694","display_name":"Pierre Lepage","orcid":"https://orcid.org/0000-0001-9735-1509"},"institutions":[{"id":"https://openalex.org/I135117807","display_name":"Universit\u00e9 de Sherbrooke","ror":"https://ror.org/00kybxq39","country_code":"CA","type":"education","lineage":["https://openalex.org/I135117807"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"P. Lepage","raw_affiliation_strings":["Department of Electrical Engineering and Computer Engineering, Universit\u00e9 Sherbrooke, Quebec, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Engineering, Universit\u00e9 Sherbrooke, Quebec, Canada","institution_ids":["https://openalex.org/I135117807"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Y. Morin","orcid":null},"institutions":[{"id":"https://openalex.org/I135117807","display_name":"Universit\u00e9 de Sherbrooke","ror":"https://ror.org/00kybxq39","country_code":"CA","type":"education","lineage":["https://openalex.org/I135117807"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Y. Morin","raw_affiliation_strings":["Department of Electrical Engineering and Computer Engineering, Universit\u00e9 Sherbrooke, Quebec, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Engineering, Universit\u00e9 Sherbrooke, Quebec, Canada","institution_ids":["https://openalex.org/I135117807"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061240860","display_name":"F. Gagnon","orcid":"https://orcid.org/0000-0001-7401-4921"},"institutions":[{"id":"https://openalex.org/I135117807","display_name":"Universit\u00e9 de Sherbrooke","ror":"https://ror.org/00kybxq39","country_code":"CA","type":"education","lineage":["https://openalex.org/I135117807"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"F. Gagnon","raw_affiliation_strings":["Department of Electrical Engineering and Computer Engineering, Universit\u00e9 Sherbrooke, Quebec, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Engineering, Universit\u00e9 Sherbrooke, Quebec, Canada","institution_ids":["https://openalex.org/I135117807"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040964231","display_name":"Patrick M. Gigu\u00e8re","orcid":"https://orcid.org/0000-0002-7520-8290"},"institutions":[{"id":"https://openalex.org/I135117807","display_name":"Universit\u00e9 de Sherbrooke","ror":"https://ror.org/00kybxq39","country_code":"CA","type":"education","lineage":["https://openalex.org/I135117807"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"P. Giguere","raw_affiliation_strings":["Department of Electrical Engineering and Computer Engineering, Universit\u00e9 Sherbrooke, Quebec, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Engineering, Universit\u00e9 Sherbrooke, Quebec, Canada","institution_ids":["https://openalex.org/I135117807"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032873180","display_name":"Julien Fr\u00e9my","orcid":null},"institutions":[{"id":"https://openalex.org/I135117807","display_name":"Universit\u00e9 de Sherbrooke","ror":"https://ror.org/00kybxq39","country_code":"CA","type":"education","lineage":["https://openalex.org/I135117807"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"J. Fremy","raw_affiliation_strings":["Department of Electrical Engineering and Computer Engineering, Universit\u00e9 Sherbrooke, Quebec, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Engineering, Universit\u00e9 Sherbrooke, Quebec, Canada","institution_ids":["https://openalex.org/I135117807"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088227639","display_name":"Lionel Clavien","orcid":null},"institutions":[{"id":"https://openalex.org/I135117807","display_name":"Universit\u00e9 de Sherbrooke","ror":"https://ror.org/00kybxq39","country_code":"CA","type":"education","lineage":["https://openalex.org/I135117807"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"L. Clavien","raw_affiliation_strings":["Department of Electrical Engineering and Computer Engineering, Universit\u00e9 Sherbrooke, Quebec, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Engineering, Universit\u00e9 Sherbrooke, Quebec, Canada","institution_ids":["https://openalex.org/I135117807"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":12,"corresponding_author_ids":["https://openalex.org/A5024678920"],"corresponding_institution_ids":["https://openalex.org/I135117807"],"apc_list":null,"apc_paid":null,"fwci":0.7492,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.75521079,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2721","last_page":"2722"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9977999925613403,"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/robot","display_name":"Robot","score":0.7130495309829712},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6633482575416565},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.633081316947937},{"id":"https://openalex.org/keywords/chassis","display_name":"Chassis","score":0.6137046813964844},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.5636101961135864},{"id":"https://openalex.org/keywords/caster","display_name":"Caster","score":0.5514484643936157},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5109783411026001},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5092231035232544},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.44582027196884155},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4328885078430176},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3661883473396301},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36194294691085815},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3401045501232147},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.33091700077056885},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07169181108474731}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7130495309829712},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6633482575416565},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.633081316947937},{"id":"https://openalex.org/C512993513","wikidata":"https://www.wikidata.org/wiki/Q1068107","display_name":"Chassis","level":2,"score":0.6137046813964844},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.5636101961135864},{"id":"https://openalex.org/C59361812","wikidata":"https://www.wikidata.org/wiki/Q1534874","display_name":"Caster","level":2,"score":0.5514484643936157},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5109783411026001},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5092231035232544},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.44582027196884155},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4328885078430176},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3661883473396301},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36194294691085815},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3401045501232147},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.33091700077056885},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07169181108474731},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2008.4650759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650759","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6600000262260437,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1521257674","https://openalex.org/W1962965017","https://openalex.org/W2072901137","https://openalex.org/W2111253117","https://openalex.org/W2117503495","https://openalex.org/W2155623974","https://openalex.org/W2497095191","https://openalex.org/W4245991817","https://openalex.org/W6723262837"],"related_works":["https://openalex.org/W2051851664","https://openalex.org/W2319619181","https://openalex.org/W133334775","https://openalex.org/W2312697276","https://openalex.org/W2102546786","https://openalex.org/W2139139490","https://openalex.org/W2517926463","https://openalex.org/W2168918646","https://openalex.org/W2283275227","https://openalex.org/W2655458901"],"abstract_inverted_index":{"The":[0],"most":[1],"common":[2],"ground":[3],"locomotion":[4,65],"method":[5],"to":[6,13,58,101,150,161],"make":[7],"a":[8,21,59,119],"mobile":[9],"robot":[10,32,60,123],"move":[11],"is":[12,107,118],"use":[14],"two-wheel":[15],"drive":[16],"with":[17,84,103,108],"differential":[18],"steering":[19],"and":[20,46,76,98,159],"rear":[22],"balancing":[23],"caster.":[24],"Controlling":[25],"the":[26,31,53,87,127,151,163],"two":[27],"motors":[28],"independently":[29],"makes":[30],"non-holonomic":[33],"in":[34,47,111],"its":[35,64,130,146,155],"motion.":[36],"Such":[37],"robots":[38],"can":[39,142,153],"work":[40],"well":[41],"indoor":[42],"on":[43,63],"flat":[44],"surfaces":[45],"environments":[48],"adapted":[49],"for":[50,67],"wheelchairs.":[51],"But":[52],"benefit":[54],"of":[55,71,89,125,129,138,148],"providing":[56],"mobility":[57],"directly":[61],"relies":[62],"capability,":[66],"handling":[68],"different":[69],"types":[70],"terrains":[72],"(indoors":[73],"or":[74,82,85,93],"outdoors)":[75],"situations":[77],"such":[78],"as":[79],"moving":[80,90],"slowly":[81],"rapidly,":[83],"without":[86],"presence":[88],"objects":[91,97],"(living":[92],"not),":[94],"climbing":[95],"over":[96,157],"potentially":[99],"having":[100],"deal":[102],"hazardous":[104],"conditions.":[105],"It":[106],"this":[109],"objective":[110],"mind":[112],"that":[113],"we":[114],"designed":[115],"AZIMUT.":[116],"AZIMUT":[117],"legged":[120],"tracked":[121],"wheeled":[122],"capable":[124],"changing":[126],"orientation":[128,156],"four":[131],"articulations.":[132],"Each":[133],"articulation":[134],"has":[135],"three":[136],"degrees":[137],"freedom":[139],"(DOF):":[140],"it":[141],"rotate":[143,160],"360deg":[144],"around":[145],"point":[147],"attachment":[149],"chassis,":[152],"change":[154],"180deg,":[158],"propulse":[162],"robot.":[164]},"counts_by_year":[{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
