{"id":"https://openalex.org/W2205266073","doi":"https://doi.org/10.1109/iros.2015.7353965","title":"Study of swing-grouser wheel: A wheel for climbing high steps, even in low friction environment","display_name":"Study of swing-grouser wheel: A wheel for climbing high steps, even in low friction environment","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2205266073","doi":"https://doi.org/10.1109/iros.2015.7353965","mag":"2205266073"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353965","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353965","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5113815066","display_name":"Hirotaka Komura","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Hirotaka Komura","raw_affiliation_strings":["Department of Mechano-Aerospace Engineering, Tokyo Institute of Technolocy, Meguroku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Aerospace Engineering, Tokyo Institute of Technolocy, Meguroku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110756970","display_name":"Hiroya Yamada","orcid":null},"institutions":[{"id":"https://openalex.org/I4210152531","display_name":"Abbott (Japan)","ror":"https://ror.org/04v748538","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210088555","https://openalex.org/I4210152531"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroya Yamada","raw_affiliation_strings":["Hibot. Corp, Shinagawaku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Hibot. Corp, Shinagawaku, Tokyo, Japan","institution_ids":["https://openalex.org/I4210152531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102288012","display_name":"Shigeo Hirose","orcid":null},"institutions":[{"id":"https://openalex.org/I4210152531","display_name":"Abbott (Japan)","ror":"https://ror.org/04v748538","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210088555","https://openalex.org/I4210152531"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigeo Hirose","raw_affiliation_strings":["Hibot. Corp, Shinagawaku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Hibot. Corp, Shinagawaku, Tokyo, Japan","institution_ids":["https://openalex.org/I4210152531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021539241","display_name":"Gen Endo","orcid":"https://orcid.org/0000-0001-7958-5395"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gen Endo","raw_affiliation_strings":["Department of Mechano-Aerospace Engineering, Tokyo Institute of Technolocy, Meguroku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Aerospace Engineering, Tokyo Institute of Technolocy, Meguroku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052210424","display_name":"Koichi Suzumori","orcid":"https://orcid.org/0000-0002-5735-4956"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koichi Suzumori","raw_affiliation_strings":["Department of Mechano-Aerospace Engineering, Tokyo Institute of Technolocy, Meguroku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Aerospace Engineering, Tokyo Institute of Technolocy, Meguroku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5113815066"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":0.9064,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.75078656,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4159","last_page":"4164"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9811000227928162,"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/T12732","display_name":"Agriculture and Farm Safety","score":0.9589999914169312,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.944388747215271},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.9190245866775513},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.7693862915039062},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7279506921768188},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.5689589977264404},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5446630120277405},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4874029755592346},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4661003351211548},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4556995630264282},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3159051835536957},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.28019094467163086},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1757829189300537},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.15150627493858337},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13744401931762695}],"concepts":[{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.944388747215271},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.9190245866775513},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.7693862915039062},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7279506921768188},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.5689589977264404},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5446630120277405},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4874029755592346},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4661003351211548},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4556995630264282},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3159051835536957},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.28019094467163086},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1757829189300537},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.15150627493858337},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13744401931762695},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7353965","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353965","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8999999761581421,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1494469850","https://openalex.org/W1544042259","https://openalex.org/W1570717418","https://openalex.org/W1975230295","https://openalex.org/W2078063607","https://openalex.org/W2088261536","https://openalex.org/W2117867221","https://openalex.org/W2146760274","https://openalex.org/W2161082941","https://openalex.org/W2313968951","https://openalex.org/W6644135095","https://openalex.org/W6681682731"],"related_works":["https://openalex.org/W1495548623","https://openalex.org/W4285553133","https://openalex.org/W4205169999","https://openalex.org/W2009505450","https://openalex.org/W2910570437","https://openalex.org/W2483415178","https://openalex.org/W2614603712","https://openalex.org/W2531085753","https://openalex.org/W2128642449","https://openalex.org/W2047906244"],"abstract_inverted_index":{"Generally,":[0],"wheel":[1,40,64,88,128],"mechanisms":[2],"are":[3,23,74],"inferior":[4],"to":[5,76],"a":[6,38,92,97,104,115,131],"tracked":[7],"or":[8,16],"walking":[9],"mechanism":[10],"in":[11,18,25,51,121,130],"terms":[12,26],"of":[13,27,68,79,85,107,110,126,143],"step":[14],"climbability":[15],"traversability":[17],"rough":[19],"terrain;":[20],"however,":[21],"they":[22],"superior":[24],"energy":[28,58,137],"efficiency,":[29],"structural":[30],"simplicity,":[31],"and":[32,55,96,101],"carrying":[33],"capacity.":[34],"This":[35],"paper":[36],"proposes":[37],"new":[39],"mechanism,":[41],"the":[42,62,69,77,83,86,108,111,127,136,144],"swing-grouser":[43,63,87,112],"wheel,":[44],"which":[45],"can":[46,65],"climb":[47,66],"high":[48,57],"steps":[49],"(especially":[50],"low":[52,132],"friction":[53,133],"environments)":[54],"has":[56],"efficiency.":[59],"In":[60],"addition,":[61],"regardless":[67],"body":[70],"inclination.":[71],"Its":[72],"merits":[73],"compared":[75],"results":[78],"prior":[80],"studies.":[81],"Furthermore,":[82],"performance":[84],"was":[89,139],"confirmed":[90],"using":[91,103],"real":[93],"device":[94],"experiment":[95],"2D":[98],"physics":[99],"simulation,":[100],"improved":[102,118],"full":[105],"search":[106],"parameters":[109],"wheel.":[113],"As":[114],"result,":[116],"one":[117],"parameter":[119],"resulted":[120],"climbing":[122],"at":[123],"over":[124],"68%":[125],"diameter":[129],"environment;":[134],"additionally,":[135],"efficiency":[138],"better":[140],"than":[141],"that":[142],"previous":[145],"model.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"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":2},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":4}],"updated_date":"2026-03-17T09:09:15.849793","created_date":"2025-10-10T00:00:00"}