{"id":"https://openalex.org/W4405787198","doi":"https://doi.org/10.1109/iros58592.2024.10801376","title":"Design of a Variable Wheel-propeller Integrated Mechanism for Amphibious Robots","display_name":"Design of a Variable Wheel-propeller Integrated Mechanism for Amphibious Robots","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405787198","doi":"https://doi.org/10.1109/iros58592.2024.10801376"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801376","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801376","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5102265858","display_name":"Lu Liang","orcid":"https://orcid.org/0009-0005-2774-5357"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Liang Lu","raw_affiliation_strings":["Huazhong University of Science and Technology,School of Artificial Intelligence and Automation,Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Artificial Intelligence and Automation,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xiangquan Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangquan Gao","raw_affiliation_strings":["Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering,Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073053328","display_name":"Ming Xiang","orcid":"https://orcid.org/0000-0002-3048-3897"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Xiang","raw_affiliation_strings":["Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering,Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042182609","display_name":"Zefeng Yan","orcid":"https://orcid.org/0000-0002-8211-820X"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zefeng Yan","raw_affiliation_strings":["Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering,Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056578785","display_name":"Bin Han","orcid":"https://orcid.org/0000-0002-0049-822X"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Han","raw_affiliation_strings":["Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering,Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5102265858"],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":0.5743,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.64041815,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3519","last_page":"3525"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9785000085830688,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9785000085830688,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9728000164031982,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9513000249862671,"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/mechanism","display_name":"Mechanism (biology)","score":0.7405202984809875},{"id":"https://openalex.org/keywords/propeller","display_name":"Propeller","score":0.6398806571960449},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6045603156089783},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.543358564376831},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4954491853713989},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.48660171031951904},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.39516860246658325},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29793834686279297},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1606414020061493},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12234950065612793},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.05731019377708435}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7405202984809875},{"id":"https://openalex.org/C80055088","wikidata":"https://www.wikidata.org/wiki/Q205451","display_name":"Propeller","level":2,"score":0.6398806571960449},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6045603156089783},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.543358564376831},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4954491853713989},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.48660171031951904},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.39516860246658325},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29793834686279297},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1606414020061493},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12234950065612793},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.05731019377708435},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801376","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801376","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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":0.7799999713897705,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1993139065","https://openalex.org/W1996677946","https://openalex.org/W2001751281","https://openalex.org/W2030532559","https://openalex.org/W2093616416","https://openalex.org/W2101850483","https://openalex.org/W2135070822","https://openalex.org/W2137150948","https://openalex.org/W2794430296","https://openalex.org/W2809500311","https://openalex.org/W2921938900","https://openalex.org/W3012227748","https://openalex.org/W3090343371","https://openalex.org/W3096888342","https://openalex.org/W3200403178","https://openalex.org/W3200445771","https://openalex.org/W4200295259","https://openalex.org/W4220818477","https://openalex.org/W4310759775","https://openalex.org/W4318192421","https://openalex.org/W4319068709","https://openalex.org/W4367663897","https://openalex.org/W4388424311"],"related_works":["https://openalex.org/W2066990921","https://openalex.org/W1974452356","https://openalex.org/W654271579","https://openalex.org/W2371860547","https://openalex.org/W2369540071","https://openalex.org/W1984243985","https://openalex.org/W578811019","https://openalex.org/W2122871747","https://openalex.org/W2056070594","https://openalex.org/W3114279067"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2],"address":[3],"the":[4,28,60,68,74,84,126,132,150],"high":[5],"complexity":[6],"and":[7,39,47,63,78,116,165],"low":[8],"efficiency":[9],"of":[10,67,106,114,122,148],"amphibious":[11,24],"propulsion":[12,80],"systems,":[13],"this":[14],"paper":[15],"proposes":[16],"a":[17,56,88,103,110,117,145],"novel":[18],"variable":[19],"wheel-propeller":[20,157],"integrated":[21,158],"mechanism":[22,159],"for":[23,59],"robots.":[25],"By":[26],"adjusting":[27],"blade":[29,127],"pitch":[30,128],"angle,":[31],"it":[32],"enables":[33],"multiple":[34],"motion":[35,163,170],"modes,":[36],"including":[37],"rapid":[38],"stable":[40],"movement":[41,49],"on":[42,50,83,138],"flat":[43],"ground,":[44],"obstacle":[45],"crossing,":[46],"omnidirectional":[48,136],"water":[51,99,139],"surface.":[52,140],"This":[53,156],"study":[54],"establishes":[55],"kinematic":[57],"model":[58],"propeller":[61],"blades":[62],"conducts":[64],"multi-objective":[65],"optimization":[66],"structural":[69,86],"parameters":[70],"by":[71],"considering":[72],"both":[73],"land":[75,142],"obstacle-crossing":[76,152],"performance":[77,164],"underwater":[79],"performance.":[81],"Based":[82],"optimized":[85],"parameters,":[87],"virtual":[89],"simulation":[90],"prototype":[91],"is":[92,154],"constructed.":[93],"Simulation":[94],"results":[95],"indicate":[96],"that":[97],"when":[98],"surface":[100],"movement,":[101,143],"with":[102,144,168],"driving":[104],"torque":[105],"3N.m,":[107],"robot":[108],"achieves":[109],"maximum":[111,118],"linear":[112],"velocity":[113,121],"1.25m/s":[115],"angular":[119],"self-rotation":[120],"3.5rad/s.":[123],"Moreover,":[124],"varying":[125],"angle":[129],"can":[130],"alter":[131],"thrust":[133],"direction,":[134],"enabling":[135],"mobility":[137],"During":[141],"rotation":[146],"speed":[147],"60rpm,":[149],"highest":[151],"height":[153],"184mm.":[155],"exhibits":[160],"robust":[161],"comprehensive":[162],"environmental":[166],"adaptability,":[167],"convenient":[169],"modes":[171],"switching.":[172]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-05-27T09:02:27.158192","created_date":"2025-10-10T00:00:00"}
