{"id":"https://openalex.org/W2003176569","doi":"https://doi.org/10.1109/iros.2014.6942819","title":"Intelligent slip-optimization control with traction-energy trade-off for wheeled robots on rough terrain","display_name":"Intelligent slip-optimization control with traction-energy trade-off for wheeled robots on rough terrain","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2003176569","doi":"https://doi.org/10.1109/iros.2014.6942819","mag":"2003176569"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6942819","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942819","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 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/A5100612965","display_name":"Jayoung Kim","orcid":"https://orcid.org/0000-0003-1371-4937"},"institutions":[{"id":"https://openalex.org/I196345858","display_name":"Chungnam National University","ror":"https://ror.org/0227as991","country_code":"KR","type":"education","lineage":["https://openalex.org/I196345858"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jayoung Kim","raw_affiliation_strings":["Mechatronics group of Chungnam National University, Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"Mechatronics group of Chungnam National University, Daejeon, Korea","institution_ids":["https://openalex.org/I196345858"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003383414","display_name":"Jihong Lee","orcid":"https://orcid.org/0000-0002-7889-4935"},"institutions":[{"id":"https://openalex.org/I196345858","display_name":"Chungnam National University","ror":"https://ror.org/0227as991","country_code":"KR","type":"education","lineage":["https://openalex.org/I196345858"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jihong Lee","raw_affiliation_strings":["Mechatronics group of Chungnam National University, Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"Mechatronics group of Chungnam National University, Daejeon, Korea","institution_ids":["https://openalex.org/I196345858"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100612965"],"corresponding_institution_ids":["https://openalex.org/I196345858"],"apc_list":null,"apc_paid":null,"fwci":1.1346,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.79697741,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1938","last_page":"1943"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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/T12118","display_name":"Forest Biomass Utilization and Management","score":0.9624999761581421,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T12201","display_name":"Agricultural Engineering and Mechanization","score":0.9444000124931335,"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/slip","display_name":"Slip (aerodynamics)","score":0.8327203989028931},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8057626485824585},{"id":"https://openalex.org/keywords/slip-ratio","display_name":"Slip ratio","score":0.7993178367614746},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6222730278968811},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6108339428901672},{"id":"https://openalex.org/keywords/traction","display_name":"Traction (geology)","score":0.556140661239624},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.4438706636428833},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4382181167602539},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31496262550354004},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.3051761984825134},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1818324327468872},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.16152068972587585},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1366451382637024},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08815661072731018}],"concepts":[{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.8327203989028931},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8057626485824585},{"id":"https://openalex.org/C139166363","wikidata":"https://www.wikidata.org/wiki/Q7540858","display_name":"Slip ratio","level":3,"score":0.7993178367614746},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6222730278968811},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6108339428901672},{"id":"https://openalex.org/C38834483","wikidata":"https://www.wikidata.org/wiki/Q17000223","display_name":"Traction (geology)","level":2,"score":0.556140661239624},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.4438706636428833},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4382181167602539},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31496262550354004},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3051761984825134},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1818324327468872},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16152068972587585},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1366451382637024},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08815661072731018},{"id":"https://openalex.org/C2780999251","wikidata":"https://www.wikidata.org/wiki/Q17022503","display_name":"Brake","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2014.6942819","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942819","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.47999998927116394}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1972855608","https://openalex.org/W1993229338","https://openalex.org/W2026932431","https://openalex.org/W2076864989","https://openalex.org/W2102608217","https://openalex.org/W2104951871","https://openalex.org/W2158941355","https://openalex.org/W2162521543","https://openalex.org/W2773955853","https://openalex.org/W3142810319","https://openalex.org/W6747032829"],"related_works":["https://openalex.org/W3033258505","https://openalex.org/W1975577234","https://openalex.org/W2994048156","https://openalex.org/W4312873346","https://openalex.org/W2076864989","https://openalex.org/W2059850776","https://openalex.org/W2083655247","https://openalex.org/W3172969850","https://openalex.org/W4391228214","https://openalex.org/W2314784439"],"abstract_inverted_index":{"On":[0],"rough":[1,162],"terrain,":[2],"there":[3],"are":[4],"a":[5,39,50,62,65,69,106,122,134,145,156],"variety":[6,70],"of":[7,46,60,64,71,108,133,140,147],"soil":[8,12,33,72],"types":[9],"having":[10],"different":[11],"strength.":[13,34],"It":[14],"means":[15],"that":[16],"it":[17],"is":[18,79,103,128,152],"needed":[19],"to":[20],"change":[21,63,146],"wheel":[22,27],"control":[23,45,77],"strategies":[24],"since":[25],"optimal":[26,43,100],"slip":[28,44,87,90,97,101,109,126,136],"levels":[29],"differ":[30],"depending":[31],"on":[32,57,68,161],"Therefore,":[35],"this":[36],"paper":[37],"proposes":[38],"novel":[40],"algorithm":[41,78,151],"for":[42],"wheeled":[47,159],"robots":[48],"with":[49,138],"trade-off":[51],"between":[52],"traction":[53,113],"and":[54,114],"energy":[55],"consumption":[56],"the":[58],"basis":[59],"observing":[61],"robot":[66,160],"velocity":[67],"types.":[73],"Proposed":[74],"intelligent":[75,93],"slip-optimization":[76],"largely":[80],"divided":[81],"into":[82],"three":[83],"main":[84],"parts;":[85],"(1)":[86],"optimization":[88],"(2)":[89],"controller":[91,137],"(3)":[92],"disturbance":[94,141],"compensator.":[95],"For":[96],"optimization,":[98],"an":[99,131],"model":[102],"derived":[104],"as":[105,130],"function":[107],"ratios":[110],"regarding":[111],"maximum":[112],"tractive":[115],"efficiency":[116],"from":[117],"indoor":[118],"experimental":[119],"data":[120],"during":[121],"wheel-terrain":[123],"interaction.":[124],"Optimized":[125],"ratio":[127],"used":[129],"input":[132],"PID":[135],"compensation":[139],"which":[142],"occurs":[143],"by":[144,154],"surface":[148],"shapes.":[149],"This":[150],"verified":[153],"controlling":[155],"real":[157],"four":[158],"terrains.":[163]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}