{"id":"https://openalex.org/W2773339821","doi":"https://doi.org/10.1109/iros.2017.8206623","title":"Development of a novel switchable omnidirectional wheel for performing cooperative tasks using differential drive mobile robots","display_name":"Development of a novel switchable omnidirectional wheel for performing cooperative tasks using differential drive mobile robots","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2773339821","doi":"https://doi.org/10.1109/iros.2017.8206623","mag":"2773339821"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206623","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206623","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5087546334","display_name":"Luis CANETE","orcid":"https://orcid.org/0000-0003-3574-0976"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Luis Canete","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, Georgia, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, Georgia, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103758408","display_name":"Takayuki TAKAHASHI","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Takayuki Takahashi","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5087546334"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20365166,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6979","last_page":"6984"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9617999792098999,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9617999792098999,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9329000115394592,"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/T10524","display_name":"Traffic control and management","score":0.9176999926567078,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.787413477897644},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7078490257263184},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.6234489679336548},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5101902484893799},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5031806826591492},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4740062654018402},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4733331799507141},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36622732877731323},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33016133308410645},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2369849681854248},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2346499264240265}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.787413477897644},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7078490257263184},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.6234489679336548},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5101902484893799},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5031806826591492},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4740062654018402},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4733331799507141},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36622732877731323},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33016133308410645},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2369849681854248},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2346499264240265},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206623","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206623","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W2119616217","https://openalex.org/W2156318233","https://openalex.org/W2577491335","https://openalex.org/W2625260448","https://openalex.org/W2788366736","https://openalex.org/W4253805488"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W2972304526","https://openalex.org/W2900509454","https://openalex.org/W2109003837","https://openalex.org/W2119963650","https://openalex.org/W2005471069","https://openalex.org/W4312096302"],"abstract_inverted_index":{"Applying":[0],"differential":[1,31,61,76,103,155],"drive":[2,32,62,77,104,156],"robots":[3,33,63,78,105,157],"to":[4,66,79,109,122],"cooperative":[5,14,42,51,83,133],"systems":[6],"introduces":[7],"difficulties":[8,17],"regarding":[9],"the":[10,13,21,25,37,41,100,123,129,132,139,143,146,160],"maneuverability":[11,130],"of":[12,24,40,89,131,145],"system.":[15,43,134],"These":[16],"are":[18,64],"caused":[19],"by":[20,30],"sliding":[22],"constraint":[23],"plain":[26,92],"wheels":[27],"typically":[28],"used":[29],"and":[34,68,93,114,142],"mainly":[35],"affects":[36],"turning":[38],"capability":[39],"This":[44],"can":[45],"be":[46,107],"a":[47,50,85],"problem":[48],"when":[49],"system":[52],"traverses":[53],"narrow":[54],"spaces":[55],"or":[56,127],"manipulates":[57],"large":[58],"objects.":[59],"Conversely,":[60],"simple":[65],"design":[67],"control":[69,121],"for":[70],"single":[71,113,124],"robot":[72,125],"tasks.":[73],"To":[74],"enable":[75],"participate":[80],"in":[81,111],"multi-robot":[82,115],"systems,":[84],"novel":[86],"wheel":[87,147],"capable":[88],"switching":[90],"between":[91],"omni-wheel":[94],"modes":[95],"is":[96,148],"proposed.":[97],"By":[98],"selecting":[99],"appropriate":[101],"mode,":[102],"would":[106],"able":[108],"work":[110],"both":[112],"tasks":[116],"seamlessly":[117],"without":[118],"adding":[119],"complex":[120],"case":[126],"degrading":[128],"As":[135],"an":[136],"initial":[137],"step,":[138],"kinematic":[140],"modeling":[141],"prototype":[144],"presented":[149],"together":[150],"with":[151,159],"tests":[152],"using":[153],"two":[154],"implemented":[158],"proposed":[161],"wheel.":[162]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
