{"id":"https://openalex.org/W2050920790","doi":"https://doi.org/10.1109/iros.2013.6696605","title":"MUWA: Multi-field universal wheel for air-land vehicle with quad variable-pitch propellers","display_name":"MUWA: Multi-field universal wheel for air-land vehicle with quad variable-pitch propellers","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2050920790","doi":"https://doi.org/10.1109/iros.2013.6696605","mag":"2050920790"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696605","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696605","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5102792995","display_name":"Koji Kawasaki","orcid":"https://orcid.org/0000-0001-7807-8420"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koji Kawasaki","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045076994","display_name":"Moju Zhao","orcid":"https://orcid.org/0000-0001-8361-5825"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Moju Zhao","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101836795","display_name":"Kei Okada","orcid":"https://orcid.org/0000-0001-6606-6692"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kei Okada","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047218430","display_name":"Masayuki Inaba","orcid":"https://orcid.org/0000-0003-1273-1567"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masayuki Inaba","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.4202,"has_fulltext":false,"cited_by_count":62,"citation_normalized_percentile":{"value":0.95185512,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1880","last_page":"1885"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9991999864578247,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/tilt","display_name":"Tilt (camera)","score":0.7173492312431335},{"id":"https://openalex.org/keywords/float","display_name":"Float (project management)","score":0.646519660949707},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5461344718933105},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.5024917125701904},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.44342130422592163},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42819347977638245},{"id":"https://openalex.org/keywords/pitch-angle","display_name":"Pitch angle","score":0.41211533546447754},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4116099178791046},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.4104001820087433},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39702802896499634},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.39197152853012085},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.36395084857940674},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32864832878112793},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.19601908326148987},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.1708681583404541},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1277417242527008},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0814228355884552}],"concepts":[{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.7173492312431335},{"id":"https://openalex.org/C2780337265","wikidata":"https://www.wikidata.org/wiki/Q185958","display_name":"Float (project management)","level":2,"score":0.646519660949707},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5461344718933105},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.5024917125701904},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.44342130422592163},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42819347977638245},{"id":"https://openalex.org/C2777581452","wikidata":"https://www.wikidata.org/wiki/Q4363928","display_name":"Pitch angle","level":2,"score":0.41211533546447754},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4116099178791046},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.4104001820087433},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39702802896499634},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.39197152853012085},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36395084857940674},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32864832878112793},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.19601908326148987},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1708681583404541},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1277417242527008},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0814228355884552},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2013.6696605","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696605","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.8700000047683716}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1546511338","https://openalex.org/W1588443828","https://openalex.org/W1603335784","https://openalex.org/W1987648924","https://openalex.org/W2000587268","https://openalex.org/W2016774418","https://openalex.org/W2098536261","https://openalex.org/W2098711104","https://openalex.org/W2098997882","https://openalex.org/W2099940712","https://openalex.org/W2142424817","https://openalex.org/W2143017962","https://openalex.org/W2151308172","https://openalex.org/W2153357054","https://openalex.org/W2162991084","https://openalex.org/W2295237049","https://openalex.org/W2896929226","https://openalex.org/W6635220464"],"related_works":["https://openalex.org/W2083852311","https://openalex.org/W2391384635","https://openalex.org/W2362890196","https://openalex.org/W2775609273","https://openalex.org/W2011148146","https://openalex.org/W2349706003","https://openalex.org/W2361149172","https://openalex.org/W1523375210","https://openalex.org/W2057866644","https://openalex.org/W2393612819"],"abstract_inverted_index":{"This":[0,62],"paper":[1],"presents":[2],"a":[3,21,36,45,59],"multi-field":[4],"universal":[5],"vehicle":[6,18,29],"that":[7,26],"is":[8],"able":[9],"to":[10,30,56],"work":[11],"at":[12,35],"land,":[13],"sea":[14],"and":[15,47,49,77],"air.":[16],"The":[17],"consists":[19],"of":[20,73,79],"quad-copter":[22],"with":[23],"variable-pitch":[24],"propellers":[25],"enable":[27],"the":[28,33,42,52,65,74],"stand":[31],"on":[32,41,51],"ground":[34,43],"given":[37],"tilt":[38],"angle,":[39],"roll":[40],"like":[44,58],"wheel,":[46],"float":[48],"move":[50],"water,":[53],"in":[54],"addition":[55],"flying":[57],"conventional":[60],"quad-copter.":[61],"article":[63],"clarifies":[64],"behavioral":[66],"objectives,":[67],"structural":[68],"design,":[69],"basic":[70],"control":[71],"mechanism":[72],"ring-shaped":[75],"robot,":[76],"examples":[78],"3D":[80],"measurements.":[81]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}