{"id":"https://openalex.org/W2561697248","doi":"https://doi.org/10.1109/iros.2016.7759402","title":"WALS-robot: A compact and transformable Wheel-Arm-Leg-Sucker hybrid robot","display_name":"WALS-robot: A compact and transformable Wheel-Arm-Leg-Sucker hybrid robot","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2561697248","doi":"https://doi.org/10.1109/iros.2016.7759402","mag":"2561697248"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759402","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759402","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 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/A5100386760","display_name":"Dandan Zhang","orcid":"https://orcid.org/0000-0001-7649-7605"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dandan Zhang","raw_affiliation_strings":["School of Energy and Power Engineering, Beihang University, Xueyuan Road, Haidian District, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Energy and Power Engineering, Beihang University, Xueyuan Road, Haidian District, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007295700","display_name":"Dangxiao Wang","orcid":"https://orcid.org/0000-0002-3178-6494"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dangxiao Wang","raw_affiliation_strings":["State Key Lab of Virtual Reality Technology and Systems, Beihang University, Xueyuan Road, Haidian District, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Lab of Virtual Reality Technology and Systems, Beihang University, Xueyuan Road, Haidian District, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100386760"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.3507,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.6580046,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"31","issue":null,"first_page":"2584","last_page":"2589"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9995999932289124,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994999766349792,"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/T10868","display_name":"Soft Robotics and Applications","score":0.996999979019165,"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/payload","display_name":"Payload (computing)","score":0.7802088856697083},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7780194282531738},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5953613519668579},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5708255171775818},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5644075274467468},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5584238767623901},{"id":"https://openalex.org/keywords/power-consumption","display_name":"Power consumption","score":0.5157628059387207},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4720110595226288},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4616734981536865},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.45714429020881653},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.450398325920105},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4503275156021118},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.42667150497436523},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.38160884380340576},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3515651822090149},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.31326401233673096},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27548152208328247},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.0897853672504425}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7802088856697083},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7780194282531738},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5953613519668579},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5708255171775818},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5644075274467468},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5584238767623901},{"id":"https://openalex.org/C2984118289","wikidata":"https://www.wikidata.org/wiki/Q29954","display_name":"Power consumption","level":3,"score":0.5157628059387207},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4720110595226288},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4616734981536865},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.45714429020881653},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.450398325920105},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4503275156021118},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.42667150497436523},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.38160884380340576},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3515651822090149},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.31326401233673096},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27548152208328247},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0897853672504425},{"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},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2016.7759402","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759402","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:research-information.bris.ac.uk:openaire_cris_publications/10891fb2-a331-4998-8a8c-cb6f10830d27","is_oa":false,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/10891fb2-a331-4998-8a8c-cb6f10830d27","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Zhang, D 2016, 'WALS-Robot: A Compact and Transformable Wheel-Arm-Leg-Sucker Hybrid Robot'.","raw_type":"info:eu-repo/semantics/publishedVersion"}],"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":11,"referenced_works":["https://openalex.org/W1896018525","https://openalex.org/W1992836971","https://openalex.org/W2028336215","https://openalex.org/W2099559152","https://openalex.org/W2108567813","https://openalex.org/W2109490168","https://openalex.org/W2138027051","https://openalex.org/W2171673086","https://openalex.org/W2800787381","https://openalex.org/W6657511173","https://openalex.org/W6685448047"],"related_works":["https://openalex.org/W4388893656","https://openalex.org/W1505290414","https://openalex.org/W2108575589","https://openalex.org/W2605331264","https://openalex.org/W2715426920","https://openalex.org/W2139139490","https://openalex.org/W2517926463","https://openalex.org/W2168918646","https://openalex.org/W2283275227","https://openalex.org/W2655458901"],"abstract_inverted_index":{"Based":[0],"on":[1],"the":[2,8,25,66,72,76,78,82,91,100,114,132,140,145],"integrated":[3,128],"design":[4,129],"concept":[5,130],"of":[6,68,99,113],"using":[7],"robot's":[9],"mechanical":[10,69,83,92],"arm":[11,84,93],"for":[12,75],"both":[13],"locomotion":[14,46,50,117],"and":[15,21,30,38,56,60,71,81,119,123,143],"manipulation,":[16,59],"we":[17],"proposed":[18],"a":[19,88,97],"compact":[20,121],"transformable":[22],"robot,":[23,77,115],"i.e.":[24,90],"WALS-Robot,":[26],"which":[27],"utilizes":[28],"combination":[29],"switch":[31,95],"among":[32,44],"four":[33],"components:":[34],"wheels,":[35],"arms,":[36],"legs":[37],"suckers.":[39],"The":[40,127],"WALS-Robot":[41],"could":[42,85],"transform":[43],"five":[45],"modes":[47],"to":[48,102],"fulfill":[49],"requirements":[51],"in":[52,134],"indoor":[53,137],"unstructured":[54,136],"environments,":[55,138],"have":[57],"dexterous":[58],"low":[61,124],"power":[62,125],"consumption.":[63,126],"To":[64],"reduce":[65,103],"redundancy":[67],"structure":[70],"moving":[73,106],"payload":[74,104],"mobile":[79],"platform":[80],"work":[86],"as":[87],"unity,":[89],"can":[94],"into":[96],"leg":[98],"robot":[101],"during":[105],"modes.":[107],"Experimental":[108],"results":[109],"validated":[110],"key":[111],"performance":[112],"including":[116],"accuracy":[118],"efficiency,":[120],"volume":[122],"illustrated":[131],"adaptability":[133],"diverse":[135],"enlarging":[139],"manipulation":[141],"workspace,":[142],"enhancing":[144],"energy":[146],"efficiency.":[147]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
