{"id":"https://openalex.org/W3141117279","doi":"https://doi.org/10.1109/lra.2021.3070295","title":"Slippage-Dependent Teleoperation of Wheeled Mobile Robots on Soft Terrains","display_name":"Slippage-Dependent Teleoperation of Wheeled Mobile Robots on Soft Terrains","publication_year":2021,"publication_date":"2021-03-31","ids":{"openalex":"https://openalex.org/W3141117279","doi":"https://doi.org/10.1109/lra.2021.3070295","mag":"3141117279"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3070295","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3070295","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5100400676","display_name":"Weihua Li","orcid":"https://orcid.org/0000-0002-9745-4150"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weihua Li","raw_affiliation_strings":["School of Automotive Engineering, Harbin Institute of Technology (Weihai), Weihai, China","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-9745-4150","affiliations":[{"raw_affiliation_string":"School of Automotive Engineering, Harbin Institute of Technology (Weihai), Weihai, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078963293","display_name":"Junlong Guo","orcid":"https://orcid.org/0000-0001-8846-5838"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junlong Guo","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-8846-5838","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012020883","display_name":"Liang Ding","orcid":"https://orcid.org/0000-0002-8351-5178"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Ding","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-8351-5178","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Wang Jianfeng","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wang Jianfeng","raw_affiliation_strings":["School of Automotive Engineering, Harbin Institute of Technology (Weihai), Weihai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Engineering, Harbin Institute of Technology (Weihai), Weihai, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033616367","display_name":"Haibo Gao","orcid":"https://orcid.org/0000-0002-6501-656X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haibo Gao","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-6501-656X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":1.0636,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.71816986,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"6","issue":"3","first_page":"4962","last_page":"4969"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9850000143051147,"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/T13885","display_name":"Geophysics and Sensor Technology","score":0.9829000234603882,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/slippage","display_name":"Slippage","score":0.9580199122428894},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.956691324710846},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5852231383323669},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5760720372200012},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5302989482879639},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5284088850021362},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5266292691230774},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4803427457809448},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.45592617988586426},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4508429169654846},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3304640054702759},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22378680109977722},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09667488932609558},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.06450217962265015}],"concepts":[{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.9580199122428894},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.956691324710846},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5852231383323669},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5760720372200012},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5302989482879639},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5284088850021362},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5266292691230774},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4803427457809448},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.45592617988586426},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4508429169654846},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3304640054702759},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22378680109977722},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09667488932609558},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.06450217962265015},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical 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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3070295","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3070295","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5064543338","display_name":null,"funder_award_id":"2018M630348/2019T120259","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G6187649350","display_name":null,"funder_award_id":"51705096/51905119/91948202","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7043306444","display_name":null,"funder_award_id":"2019076","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320327001","display_name":"State Key Laboratory of Robotics and System","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1506295672","https://openalex.org/W1967390389","https://openalex.org/W1998314721","https://openalex.org/W2010842411","https://openalex.org/W2079394471","https://openalex.org/W2116839299","https://openalex.org/W2123692554","https://openalex.org/W2125108228","https://openalex.org/W2130187425","https://openalex.org/W2149399492","https://openalex.org/W2150207874","https://openalex.org/W2151412583","https://openalex.org/W2156762301","https://openalex.org/W2260473022","https://openalex.org/W2398741002","https://openalex.org/W2412432240","https://openalex.org/W2462633786","https://openalex.org/W2516758864","https://openalex.org/W2531130876","https://openalex.org/W2536439700","https://openalex.org/W2698548017","https://openalex.org/W2752596394","https://openalex.org/W2898880028","https://openalex.org/W2906800373","https://openalex.org/W2910410709","https://openalex.org/W2946737911","https://openalex.org/W2948556269","https://openalex.org/W2953929476","https://openalex.org/W2954973371","https://openalex.org/W2961649484","https://openalex.org/W2966144631","https://openalex.org/W2987721550","https://openalex.org/W2998137241","https://openalex.org/W3085005795","https://openalex.org/W3094167359","https://openalex.org/W3115899842","https://openalex.org/W3146960976","https://openalex.org/W6683090549"],"related_works":["https://openalex.org/W2917225013","https://openalex.org/W845789065","https://openalex.org/W2039606477","https://openalex.org/W2361542615","https://openalex.org/W585312555","https://openalex.org/W2055370323","https://openalex.org/W2052447287","https://openalex.org/W2088250263","https://openalex.org/W2113164274","https://openalex.org/W2132444301"],"abstract_inverted_index":{"The":[0,67],"slippage":[1],"appears":[2],"on":[3],"soft":[4],"terrains":[5],"for":[6,37,88],"wheeled":[7],"mobile":[8],"robots":[9],"(WMR),":[10],"and":[11,32,35,53,77,91,107,129],"generates":[12],"a":[13,54,102,108,122],"motion":[14,31],"deviation":[15],"at":[16],"the":[17,50,64,73,89,93,99,117],"contact":[18],"area,":[19],"which":[20],"can":[21,120],"induce":[22],"poor":[23],"command-tracking":[24,94,127],"performance":[25,95,128],"(meaning":[26],"difference":[27],"between":[28],"WMR's":[29],"actual":[30],"operator's":[33],"command)":[34],"instability":[36],"its":[38],"teleoperation.":[39],"Our":[40],"previous":[41,134],"studies":[42],"have":[43],"presented":[44],"some":[45],"approaches":[46],"to":[47,61],"conservatively":[48],"ensure":[49],"system":[51,124],"stability,":[52],"new":[55],"slippage-dependent":[56,103],"teleoperator":[57],"is":[58,70,112],"proposed":[59,118],"herein":[60],"further":[62],"improve":[63,92],"teleoperation":[65],"performance.":[66],"kinematic":[68],"model":[69],"augmented":[71],"in":[72],"presence":[74],"of":[75,101],"slippage,":[76,98],"slippage-induced":[78],"unstable":[79],"elements":[80],"are":[81],"revealed":[82],"by":[83,97],"passivity":[84],"analysis.":[85],"To":[86],"compensate":[87],"activity":[90],"induced":[96],"combination":[100],"forward":[104],"feedback":[105],"controller":[106,111],"traditional":[109],"position-error-based":[110],"proposed.":[113],"Experiments":[114],"validate":[115],"that":[116],"method":[119],"yield":[121],"stable":[123],"with":[125,133],"good":[126],"force":[130],"transparency":[131],"compared":[132],"studies.":[135]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}