{"id":"https://openalex.org/W4416749794","doi":"https://doi.org/10.1109/iros60139.2025.11246162","title":"A Wearable Centaur Robot with Wheel-Legged Transformation for Enhanced Load-Carrying Assistance","display_name":"A Wearable Centaur Robot with Wheel-Legged Transformation for Enhanced Load-Carrying Assistance","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749794","doi":"https://doi.org/10.1109/iros60139.2025.11246162"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246162","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246162","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5114180436","display_name":"Songhao Li","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":true,"raw_author_name":"Songhao Li","raw_affiliation_strings":["Huazhong University of Science and Technology,School of Artificial Intelligence and Automation,Wuhan,China"],"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Artificial Intelligence and Automation,Wuhan,China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066499031","display_name":"Yu Cao","orcid":"https://orcid.org/0000-0002-3486-5518"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yu Cao","raw_affiliation_strings":["University of Leeds,School of Electronic &amp; Electrical Engineering,Leeds,UK"],"affiliations":[{"raw_affiliation_string":"University of Leeds,School of Electronic &amp; Electrical Engineering,Leeds,UK","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036634022","display_name":"Zhengfei Di","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":"Zhiyuan Di","raw_affiliation_strings":["Huazhong University of Science and Technology,School of Artificial Intelligence and Automation,Wuhan,China"],"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Artificial Intelligence and Automation,Wuhan,China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101948465","display_name":"Yifei Guo","orcid":"https://orcid.org/0000-0002-2037-163X"},"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":"Yifei Guo","raw_affiliation_strings":["Huazhong University of Science and Technology,School of Artificial Intelligence and Automation,Wuhan,China"],"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Artificial Intelligence and Automation,Wuhan,China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066790771","display_name":"Jian Huang","orcid":"https://orcid.org/0000-0002-6267-8824"},"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":"Jian Huang","raw_affiliation_strings":["Huazhong University of Science and Technology,School of Artificial Intelligence and Automation,Wuhan,China"],"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Artificial Intelligence and Automation,Wuhan,China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5114180436"],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35164156,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"14967","last_page":"14973"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.6658999919891357,"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":0.6658999919891357,"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":0.27959999442100525,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.011699999682605267,"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":0.647599995136261},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5781000256538391},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.5523999929428101},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5188999772071838},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4977000057697296},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.44190001487731934},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.41600000858306885},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4140999913215637},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.41119998693466187}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.647599995136261},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5781000256538391},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.5523999929428101},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5188999772071838},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5170999765396118},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4977000057697296},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4666999876499176},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.44190001487731934},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.41600000858306885},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4140999913215637},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.41119998693466187},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4092000126838684},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3903000056743622},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.3643999993801117},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3598000109195709},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.3578999936580658},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.3546000123023987},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3440000116825104},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.3418999910354614},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.3375000059604645},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3345000147819519},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.3264999985694885},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3181000053882599},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.3154999911785126},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.30809998512268066},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2786000072956085},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2689000070095062},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2653999924659729},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.2639000117778778},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2624000012874603}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246162","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246162","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334322","display_name":"HORIZON EUROPE Framework Programme","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1975230295","https://openalex.org/W2015324860","https://openalex.org/W2074799954","https://openalex.org/W2965215408","https://openalex.org/W3003894605","https://openalex.org/W3039751018","https://openalex.org/W3109424835","https://openalex.org/W3131341185","https://openalex.org/W4205599770","https://openalex.org/W4292852791","https://openalex.org/W4312661246","https://openalex.org/W4312948148","https://openalex.org/W4391305509","https://openalex.org/W4392199638","https://openalex.org/W4392763392","https://openalex.org/W4395116617","https://openalex.org/W4396877734","https://openalex.org/W4400071516","https://openalex.org/W4401672673","https://openalex.org/W4402592523"],"related_works":[],"abstract_inverted_index":{"The":[0,46,67,162],"execution":[1],"of":[2,49,115],"long-distance":[3],"load-carrying":[4,44,72],"tasks":[5,14],"across":[6,129],"multiple":[7],"terrains":[8,184],"remains":[9],"a":[10,35,89,121,148],"frequent":[11],"requirement.":[12],"These":[13],"often":[15],"involve":[16],"heavy":[17],"loads,":[18],"resulting":[19],"in":[20,75],"fatigue,":[21],"decreased":[22],"efficiency,":[23,73],"and":[24,64,102,155,170],"potential":[25],"safety":[26],"risks.":[27],"To":[28],"address":[29],"this":[30,32,50],"issue,":[31],"paper":[33],"proposes":[34],"wearable":[36],"centaur":[37],"robot":[38],"with":[39,187],"wheel-legged":[40,56],"transformation":[41],"for":[42,125,141,151],"human":[43,188],"assistance.":[45],"key":[47],"feature":[48],"robotic":[51],"mechanism":[52],"is":[53],"the":[54,62,76,79,85,112,116,142,152,156,159,178],"independent":[55],"transformable":[57],"structure,":[58],"enabling":[59],"transitions":[60],"between":[61,158],"wheeled":[63,68,143],"legged":[65,77,153],"modes.":[66,161],"mode":[69,168],"ensures":[70],"high":[71],"while":[74,110,185],"mode,":[78,144,154],"wheels":[80],"are":[81],"laid":[82],"flat,":[83],"transforming":[84],"ankle":[86],"joint":[87],"into":[88],"locked":[90],"support":[91],"surface":[92],"that":[93],"provides":[94],"stable":[95,103],"gait":[96,114,145],"support.":[97],"This":[98],"design":[99],"enables":[100],"efficient":[101],"load":[104,189],"carriage":[105],"over":[106],"complex":[107],"terrains,":[108,131],"all":[109],"preserving":[111],"natural":[113],"user.":[117],"Next,":[118],"we":[119],"develop":[120],"unified":[122],"control":[123,135,146],"framework":[124],"human-robot":[126,174],"collaborative":[127,175],"locomotion":[128],"different":[130,183],"which":[132],"includes":[133],"velocity":[134],"based":[136],"on":[137],"an":[138],"admittance":[139],"model":[140],"using":[147],"B\u00e9zier":[149],"trajectory":[150],"transition":[157,169],"two":[160],"preliminary":[163],"experiments":[164],"include":[165],"wheeled-mode,":[166],"legged-mode,":[167],"obstacle":[171],"crossing":[172],"under":[173],"locomotion,":[176],"validating":[177],"proposed":[179],"robot\u2019s":[180],"adaptability":[181],"to":[182],"assisting":[186],"carriage.":[190]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}
