{"id":"https://openalex.org/W3189838404","doi":"https://doi.org/10.1109/lra.2021.3103641","title":"Linear Expressions of Drawbar Pull and Driving Torque for Grouser-Wheeled Planetary Rovers Without Terrain Mechanical Parameters","display_name":"Linear Expressions of Drawbar Pull and Driving Torque for Grouser-Wheeled Planetary Rovers Without Terrain Mechanical Parameters","publication_year":2021,"publication_date":"2021-08-10","ids":{"openalex":"https://openalex.org/W3189838404","doi":"https://doi.org/10.1109/lra.2021.3103641","mag":"3189838404"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3103641","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3103641","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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/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":true,"raw_author_name":"Junlong Guo","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"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/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":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"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"],"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/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"],"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/A5052236642","display_name":"Tianyou Guo","orcid":"https://orcid.org/0000-0002-9537-9767"},"institutions":[{"id":"https://openalex.org/I118136607","display_name":"General Motors (United States)","ror":"https://ror.org/05addee68","country_code":"US","type":"company","lineage":["https://openalex.org/I118136607"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tianyou Guo","raw_affiliation_strings":["General Motors, Milford, MI, USA"],"affiliations":[{"raw_affiliation_string":"General Motors, Milford, MI, USA","institution_ids":["https://openalex.org/I118136607"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076347853","display_name":"Bo Huang","orcid":"https://orcid.org/0000-0002-3025-0532"},"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":"Bo Huang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"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":"last","author":{"id":"https://openalex.org/A5100617483","display_name":"Zongquan Deng","orcid":"https://orcid.org/0000-0003-2432-8329"},"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":"Zongquan Deng","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"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":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5078963293"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.9405,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.72447964,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"6","issue":"4","first_page":"8197","last_page":"8204"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.9902999997138977,"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/T10406","display_name":"Planetary Science and Exploration","score":0.9681000113487244,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8825555443763733},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.789699375629425},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.7551887035369873},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.5594487190246582},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.439313679933548},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43285712599754333},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4180733561515808},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3131294548511505},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.261663019657135},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.24211689829826355},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17525190114974976},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.17129185795783997},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11010748147964478},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09044170379638672}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8825555443763733},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.789699375629425},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.7551887035369873},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.5594487190246582},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.439313679933548},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43285712599754333},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4180733561515808},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3131294548511505},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.261663019657135},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.24211689829826355},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17525190114974976},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.17129185795783997},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11010748147964478},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09044170379638672},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3103641","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3103641","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":[{"display_name":"Affordable and clean energy","score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G2382377581","display_name":null,"funder_award_id":"51905119","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4000284338","display_name":null,"funder_award_id":"SKLRS202003C","funder_id":"https://openalex.org/F4320327001","funder_display_name":"State Key Laboratory of Robotics and System"},{"id":"https://openalex.org/G4634428525","display_name":null,"funder_award_id":"51705096","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7429386803","display_name":null,"funder_award_id":"51822502","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320327001","display_name":"State Key Laboratory of Robotics and System","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W364988151","https://openalex.org/W571136773","https://openalex.org/W1908079484","https://openalex.org/W1972855608","https://openalex.org/W1986469871","https://openalex.org/W1998314721","https://openalex.org/W2029266383","https://openalex.org/W2052171629","https://openalex.org/W2077626072","https://openalex.org/W2088722416","https://openalex.org/W2089097034","https://openalex.org/W2124423652","https://openalex.org/W2151435677","https://openalex.org/W2158277094","https://openalex.org/W2289628916","https://openalex.org/W2335609198","https://openalex.org/W2585306770","https://openalex.org/W2782613402","https://openalex.org/W2904792470","https://openalex.org/W2957761226","https://openalex.org/W3031923123","https://openalex.org/W3044924753","https://openalex.org/W3047075651","https://openalex.org/W3141117279","https://openalex.org/W4252085921","https://openalex.org/W6612522786","https://openalex.org/W6669848296"],"related_works":["https://openalex.org/W4385681705","https://openalex.org/W3197850244","https://openalex.org/W4296047182","https://openalex.org/W3189838404","https://openalex.org/W3089924509","https://openalex.org/W2118632873","https://openalex.org/W2800859539","https://openalex.org/W2606612881","https://openalex.org/W2379253402","https://openalex.org/W1980657804"],"abstract_inverted_index":{"Drawbar":[0],"pull":[1,73,136],"and":[2,12,74,107,156],"driving":[3,75,128,169],"torque":[4,76,129,170],"are":[5],"usually":[6],"applied":[7],"to":[8,25,55,140,163],"characterize":[9],"the":[10,26,29,42,57,71,89,126,132,142,153,157,167,172],"mobility":[11],"energy":[13],"consumption,":[14],"respectively,":[15],"of":[16,28,41,84,91,105,113,145,171],"wheeled":[17],"planetary":[18,148],"rovers":[19],"(WPRs)":[20],"traversing":[21],"sandy":[22],"terrain.":[23],"Owing":[24],"complexity":[27],"grouser-terrain":[30,116],"interaction,":[31],"neither":[32],"can":[33,77,121,160,175],"be":[34,78,122,161,177],"modeled":[35,79],"as":[36,80],"a":[37,81,114,146],"closed-form":[38],"analytical":[39],"expression":[40],"terrain":[43,58,92],"mechanical":[44,59,93],"parameters.":[45,60],"Complexity":[46],"limits":[47],"their":[48],"online":[49],"applications.":[50],"Moreover,":[51],"it":[52],"is":[53,96,138],"difficult":[54],"estimate":[56,141],"To":[61],"solve":[62],"these":[63],"issues,":[64],"based":[65],"on":[66,118],"equivalent":[67],"wheel":[68,119,168],"sinkage,":[69],"both":[70],"drawbar":[72,135],"linear":[82,127,134],"function":[83],"physically":[85],"measurable":[86],"quantities":[87],"in":[88],"absence":[90],"parameters,":[94],"which":[95],"demonstrated":[97],"using":[98,125],"single-wheel":[99],"experiments":[100],"conducted":[101],"with":[102],"four":[103],"types":[104],"wheels":[106],"two":[108],"sand":[109],"types.":[110],"The":[111],"influence":[112],"sophisticated":[115],"interaction":[117],"sinkage":[120],"explicitly":[123],"determined":[124],"model.":[130],"Furthermore,":[131],"validated":[133],"equation":[137],"used":[139],"slope-climbing":[143,154],"capability":[144],"four-wheeled":[147],"rover":[149,173],"prototype":[150,174],"by":[151],"computing":[152],"coefficient,":[155],"relative":[158],"error":[159],"limited":[162],"10%.":[164],"In":[165],"addition,":[166],"also":[176],"accurately":[178],"predicted.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}