{"id":"https://openalex.org/W2199318894","doi":"https://doi.org/10.1109/iros.2015.7353966","title":"A transformable wheel robot with a passive leg","display_name":"A transformable wheel robot with a passive leg","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2199318894","doi":"https://doi.org/10.1109/iros.2015.7353966","mag":"2199318894"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353966","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353966","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":"conference-paper","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/A5018653973","display_name":"Yu She","orcid":"https://orcid.org/0000-0001-5914-3573"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yu She","raw_affiliation_strings":["Graduate Research Associate of Dept. of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate Research Associate of Dept. of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058979896","display_name":"Carter J. Hurd","orcid":null},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carter J. Hurd","raw_affiliation_strings":["Undergraduate Research Assistant of Dept. of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Undergraduate Research Assistant of Dept. of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037315815","display_name":"Hai\u2010Jun Su","orcid":"https://orcid.org/0000-0002-3132-0213"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hai-Jun Su","raw_affiliation_strings":["Associate Professor of Dept. of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Associate Professor of Dept. of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I52357470"],"apc_list":null,"apc_paid":null,"fwci":8.3887,"has_fulltext":false,"cited_by_count":67,"citation_normalized_percentile":{"value":0.98275407,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4165","last_page":"4170"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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/T10879","display_name":"Robotic Locomotion and Control","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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9929999709129333,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7231004238128662},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5624178051948547},{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.5385500192642212},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4796769618988037},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.47314178943634033},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4562969207763672},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.4485543668270111},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4392361640930176},{"id":"https://openalex.org/keywords/dirt","display_name":"Dirt","score":0.4182341694831848},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41327643394470215},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38885122537612915},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.18827223777770996},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16604569554328918},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11472290754318237}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7231004238128662},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5624178051948547},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.5385500192642212},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4796769618988037},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.47314178943634033},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4562969207763672},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.4485543668270111},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4392361640930176},{"id":"https://openalex.org/C2778582501","wikidata":"https://www.wikidata.org/wiki/Q555882","display_name":"Dirt","level":2,"score":0.4182341694831848},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41327643394470215},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38885122537612915},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.18827223777770996},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16604569554328918},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11472290754318237},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7353966","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353966","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/11","display_name":"Sustainable cities and communities","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1991089195","https://openalex.org/W1999218300","https://openalex.org/W2072901137","https://openalex.org/W2094454490","https://openalex.org/W2095315722","https://openalex.org/W2107165247","https://openalex.org/W2118938649","https://openalex.org/W2172212138","https://openalex.org/W6650118021"],"related_works":["https://openalex.org/W2166802441","https://openalex.org/W2514466123","https://openalex.org/W2113164274","https://openalex.org/W2206060124","https://openalex.org/W2132444301","https://openalex.org/W2005454405","https://openalex.org/W2371131212","https://openalex.org/W2739593313","https://openalex.org/W13333063","https://openalex.org/W2841879989"],"abstract_inverted_index":{"In":[0],"this":[1,58],"paper,":[2],"we":[3],"present":[4],"a":[5,12,16,38,94,159],"novel":[6],"wheeled":[7],"robot":[8,55,152,168],"that":[9,121,136,144,180],"transforms":[10],"from":[11],"circled":[13,183],"configuration":[14,175],"to":[15,25,62,109,127,153],"spoke-like":[17],"legged":[18,174],"configuration.":[19,184],"Wheeled":[20],"mobile":[21,151],"robots":[22],"are":[23,90],"able":[24,61],"quickly":[26,74],"and":[27,49,65],"efficiently":[28],"move":[29,73],"on":[30],"flat":[31,76],"surfaces.":[32],"However":[33],"they":[34],"may":[35],"sink":[36],"into":[37],"terrain":[39],"with":[40,158],"dynamic":[41],"surface":[42],"such":[43],"as":[44],"snow,":[45],"sand,":[46],"dirt,":[47],"moss,":[48],"small":[50],"gravel.":[51],"The":[52,78,100,170],"transformable":[53],"wheel":[54,79,176],"presented":[56],"in":[57,107],"paper":[59],"is":[60,80,103,133,177],"overcome":[63],"obstacles":[64],"navigate":[66],"these":[67],"dynamics":[68],"surfaces,":[69],"yet":[70],"can":[71],"still":[72],"over":[75],"ground.":[77],"comprised":[81],"of":[82,88,115,137,163,172,181],"five":[83],"spokes":[84],"or":[85],"legs,":[86],"four":[87,97],"which":[89],"actively":[91],"driven":[92],"by":[93],"motor":[95],"via":[96],"slider-crank":[98],"linkages.":[99],"last":[101],"one":[102],"designed":[104],"be":[105],"passive":[106,130,146],"order":[108],"significantly":[110],"decrease":[111],"the":[112,116,122,129,138,145,150,155,166,173,182],"actuation":[113],"force":[114,125],"transformer":[117],"mechanism.":[118],"Analysis":[119],"shows":[120],"maximum":[123,160],"driving":[124],"required":[126],"actuate":[128],"leg":[131,140,147],"design":[132,148],"1/187.5":[134],"times":[135,165,179],"active":[139],"design.":[141],"Experiments":[142],"demonstrate":[143],"allows":[149],"open":[154],"transformation":[156],"mechanism":[157],"external":[161],"loading":[162],"1.809":[164],"original":[167],"weight.":[169],"diameter":[171],"1.576":[178]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}