{"id":"https://openalex.org/W4312910667","doi":"https://doi.org/10.1109/iros47612.2022.9982030","title":"OmniWheg: An Omnidirectional Wheel-Leg Transformable Robot","display_name":"OmniWheg: An Omnidirectional Wheel-Leg Transformable Robot","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312910667","doi":"https://doi.org/10.1109/iros47612.2022.9982030"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982030","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982030","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5016013285","display_name":"Ruixiang Cao","orcid":"https://orcid.org/0000-0003-4401-2700"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruixiang Cao","raw_affiliation_strings":["School of Information Science and Technology, ShanghaiTech University,Shanghai,China","School of Information Science and Technology, ShanghaiTech University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, ShanghaiTech University,Shanghai,China","institution_ids":["https://openalex.org/I30809798"]},{"raw_affiliation_string":"School of Information Science and Technology, ShanghaiTech University, Shanghai, China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032672350","display_name":"Jun Gu","orcid":null},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Gu","raw_affiliation_strings":["School of Information Science and Technology, ShanghaiTech University,Shanghai,China","School of Information Science and Technology, ShanghaiTech University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, ShanghaiTech University,Shanghai,China","institution_ids":["https://openalex.org/I30809798"]},{"raw_affiliation_string":"School of Information Science and Technology, ShanghaiTech University, Shanghai, China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103658436","display_name":"Chen Yu","orcid":"https://orcid.org/0009-0002-6498-1795"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Yu","raw_affiliation_strings":["School of Information Science and Technology, ShanghaiTech University,Shanghai,China","School of Information Science and Technology, ShanghaiTech University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, ShanghaiTech University,Shanghai,China","institution_ids":["https://openalex.org/I30809798"]},{"raw_affiliation_string":"School of Information Science and Technology, ShanghaiTech University, Shanghai, China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007414540","display_name":"Andr\u00e9 Rosendo","orcid":"https://orcid.org/0000-0003-4062-5390"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Andre Rosendo","raw_affiliation_strings":["School of Information Science and Technology, ShanghaiTech University,Shanghai,China","School of Information Science and Technology, ShanghaiTech University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, ShanghaiTech University,Shanghai,China","institution_ids":["https://openalex.org/I30809798"]},{"raw_affiliation_string":"School of Information Science and Technology, ShanghaiTech University, Shanghai, China","institution_ids":["https://openalex.org/I30809798"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.1376,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":{"value":0.99385031,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"5626","last_page":"5631"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9965000152587891,"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":0.991599977016449,"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/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.7323259115219116},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.653965175151825},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6343130469322205},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6106690764427185},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5937254428863525},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.5384296178817749},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4346129298210144},{"id":"https://openalex.org/keywords/stair-climbing","display_name":"Stair climbing","score":0.43340200185775757},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42497706413269043},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3178682029247284}],"concepts":[{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.7323259115219116},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.653965175151825},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6343130469322205},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6106690764427185},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5937254428863525},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.5384296178817749},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4346129298210144},{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.43340200185775757},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42497706413269043},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3178682029247284},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9982030","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982030","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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":11,"referenced_works":["https://openalex.org/W1991089195","https://openalex.org/W2064736763","https://openalex.org/W2618496359","https://openalex.org/W2809120964","https://openalex.org/W2909553221","https://openalex.org/W2967978114","https://openalex.org/W2968213087","https://openalex.org/W3023173947","https://openalex.org/W3076622104","https://openalex.org/W3162905886","https://openalex.org/W3200445771"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W2381912691","https://openalex.org/W2350381577","https://openalex.org/W2353618196","https://openalex.org/W2348074676","https://openalex.org/W2385033175","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W1967212822"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,31,44,54,85,100,105,109,114,119,123,161,165],"design,":[4],"analysis,":[5],"and":[6,27,37,51,72,91,103,118,142,157],"performance":[7,130],"evaluation":[8],"of":[9,23,57,87,122,139,175],"an":[10],"omnidirectional":[11,82],"transformable":[12,167],"wheel-leg":[13,110,124,168],"robot":[14,32,45],"called":[15],"OmniWheg.":[16],"We":[17,112,126],"design":[18,115],"a":[19,24,172],"novel":[20],"mechanism":[21],"consisting":[22],"separable":[25],"omni-wheel":[26],"4-bar":[28],"linkages,":[29],"allowing":[30],"to":[33],"transform":[34],"between":[35,89],"omni-wheeled":[36],"legged":[38,67],"modes":[39],"smoothly.":[40],"In":[41],"wheeled":[42],"mode,":[43,68],"can":[46,62,152],"move":[47,158],"in":[48,66,131],"all":[49],"directions":[50],"efficiently":[52],"adjust":[53],"relative":[55],"position":[56],"its":[58,129],"wheels,":[59],"while":[60,170],"it":[61],"overcome":[63,153],"common":[64,154],"obstacles":[65,156],"such":[69],"as":[70],"stairs":[71],"steps.":[73],"Unlike":[74],"other":[75],"articles":[76],"studying":[77],"whegs,":[78],"this":[79,149],"implementation":[80],"with":[81,164],"wheels":[83,93],"allows":[84],"correction":[86],"misalignments":[88],"right":[90],"left":[92],"before":[94,108],"traversing":[95],"obstacles,":[96,136],"which":[97],"effectively":[98],"improves":[99],"success":[101],"rate":[102],"simplifies":[104],"preparation":[106],"process":[107],"transformation.":[111],"describe":[113],"concept,":[116],"mechanism,":[117,169],"dynamic":[120],"characteristic":[121],"structure.":[125],"then":[127],"evaluate":[128],"various":[132],"scenarios,":[133],"including":[134],"passing":[135],"climbing":[137],"steps":[138],"different":[140],"heights,":[141],"turning/moving":[143],"omnidirectionally.":[144],"Our":[145],"results":[146],"confirm":[147],"that":[148],"mobile":[150],"platform":[151],"indoor":[155],"flexibly":[159],"on":[160],"flat":[162],"ground":[163],"new":[166],"keeping":[171],"high":[173],"degree":[174],"stability.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}