{"id":"https://openalex.org/W3139999658","doi":"https://doi.org/10.1109/iros.2008.4650886","title":"Sensing terrain parameters and the characteristics of vehicle-terrain interaction using the multimode locomotion system of a robot","display_name":"Sensing terrain parameters and the characteristics of vehicle-terrain interaction using the multimode locomotion system of a robot","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W3139999658","doi":"https://doi.org/10.1109/iros.2008.4650886","mag":"3139999658"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2008.4650886","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650886","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/A5045778542","display_name":"Ilkka Lepp\u00e4nen","orcid":"https://orcid.org/0000-0003-3041-6819"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"I.M. Leppanen","raw_affiliation_strings":["Department of Automation and Systems Technology, Helsinki University of Technology, Espoo, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation and Systems Technology, Helsinki University of Technology, Espoo, Finland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034008274","display_name":"Petri Virekoski","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"P.J. Virekoski","raw_affiliation_strings":["Department of Automation and Systems Technology, Helsinki University of Technology, Espoo, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation and Systems Technology, Helsinki University of Technology, Espoo, Finland","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075807393","display_name":"Aarne Halme","orcid":"https://orcid.org/0000-0003-0391-9066"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"A.J. Halme","raw_affiliation_strings":["Department of Automation and Systems Technology, Helsinki University of Technology, Espoo, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation and Systems Technology, Helsinki University of Technology, Espoo, Finland","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9989,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.85585998,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"10","issue":null,"first_page":"500","last_page":"505"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T14445","display_name":"Transportation Safety and Impact Analysis","score":0.9635000228881836,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T13312","display_name":"Mechanical and Thermal Properties Analysis","score":0.954200029373169,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/terrain","display_name":"Terrain","score":0.9301233291625977},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6852447390556335},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6732978224754333},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6009423732757568},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5648615956306458},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5506642460823059},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.4966946244239807},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4475668668746948},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41600289940834045},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14418953657150269}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.9301233291625977},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6852447390556335},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6732978224754333},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6009423732757568},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5648615956306458},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5506642460823059},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.4966946244239807},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4475668668746948},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41600289940834045},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14418953657150269},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2008.4650886","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650886","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":0.8199999928474426,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W106926955","https://openalex.org/W1997846969","https://openalex.org/W2151435677","https://openalex.org/W2153864216","https://openalex.org/W2335544554","https://openalex.org/W2595944274"],"related_works":["https://openalex.org/W4226458444","https://openalex.org/W3213331859","https://openalex.org/W2909067415","https://openalex.org/W4285089922","https://openalex.org/W4226082913","https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W2122871747","https://openalex.org/W1904098742","https://openalex.org/W3158921809"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"methods":[3,32],"for":[4,65],"determining":[5,70],"the":[6,19,46,49,54,57],"quality":[7],"of":[8,56,73],"terrain,":[9,52],"while":[10],"driving,":[11],"with":[12],"a":[13],"mobile":[14],"robot":[15,50],"that":[16],"can":[17,37,61],"measure":[18],"vertical,":[20],"horizontal":[21],"and":[22,36,51,53],"rotational":[23],"strain":[24],"forces":[25],"affecting":[26],"its":[27],"wheels":[28],"or":[29,69],"feet.":[30],"These":[31],"are":[33],"all":[34],"sense-by-touch,":[35],"be":[38,63],"used":[39,64],"to":[40,45],"calculate":[41],"various":[42],"parameters":[43,60],"relating":[44],"interaction":[47],"between":[48],"geometry":[55],"terrain.":[58],"The":[59],"then":[62],"mapping,":[66],"path":[67],"planning":[68],"suitable":[71],"modes":[72],"locomotion.":[74]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
