{"id":"https://openalex.org/W4226136318","doi":"https://doi.org/10.1109/lra.2022.3156636","title":"A Dynamic Resistive Force Model for Designing Mobile Robot in Granular Media","display_name":"A Dynamic Resistive Force Model for Designing Mobile Robot in Granular Media","publication_year":2022,"publication_date":"2022-03-07","ids":{"openalex":"https://openalex.org/W4226136318","doi":"https://doi.org/10.1109/lra.2022.3156636"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3156636","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3156636","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/A5009591058","display_name":"Lei Huang","orcid":"https://orcid.org/0000-0002-0613-4347"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Huang","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-0613-4347","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079574243","display_name":"Junda Zhu","orcid":"https://orcid.org/0000-0002-6586-0963"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junda Zhu","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014384556","display_name":"Yufeng Yuan","orcid":"https://orcid.org/0000-0003-3924-3803"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yufeng Yuan","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100672591","display_name":"Yuehong Yin","orcid":"https://orcid.org/0000-0003-2424-9508"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuehong Yin","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-2424-9508","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":1.8479,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.83285016,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"7","issue":"2","first_page":"5357","last_page":"5364"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9990000128746033,"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":0.9990000128746033,"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":0.9871000051498413,"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/T10615","display_name":"Granular flow and fluidized beds","score":0.963699996471405,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/resistive-touchscreen","display_name":"Resistive touchscreen","score":0.7030417919158936},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5015692710876465},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.49559295177459717},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4804629683494568},{"id":"https://openalex.org/keywords/lift","display_name":"Lift (data mining)","score":0.4793694317340851},{"id":"https://openalex.org/keywords/granular-material","display_name":"Granular material","score":0.4733954668045044},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4351775348186493},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4082237780094147},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.34238600730895996},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31837132573127747},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1738709807395935},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.08560287952423096}],"concepts":[{"id":"https://openalex.org/C6899612","wikidata":"https://www.wikidata.org/wiki/Q852911","display_name":"Resistive touchscreen","level":2,"score":0.7030417919158936},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5015692710876465},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.49559295177459717},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4804629683494568},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.4793694317340851},{"id":"https://openalex.org/C32568104","wikidata":"https://www.wikidata.org/wiki/Q1155083","display_name":"Granular material","level":2,"score":0.4733954668045044},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4351775348186493},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4082237780094147},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.34238600730895996},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31837132573127747},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1738709807395935},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.08560287952423096},{"id":"https://openalex.org/C187320778","wikidata":"https://www.wikidata.org/wiki/Q1349130","display_name":"Geotechnical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3156636","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3156636","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":[{"score":0.8199999928474426,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1970644774","https://openalex.org/W1973527365","https://openalex.org/W1974461875","https://openalex.org/W1975491757","https://openalex.org/W1986469871","https://openalex.org/W1992878443","https://openalex.org/W2012416257","https://openalex.org/W2012776605","https://openalex.org/W2030052031","https://openalex.org/W2055715865","https://openalex.org/W2156968214","https://openalex.org/W2210415010","https://openalex.org/W2271730371","https://openalex.org/W2327495450","https://openalex.org/W2506009897","https://openalex.org/W2603193537","https://openalex.org/W2615434978","https://openalex.org/W2891195561","https://openalex.org/W2912307397","https://openalex.org/W2922219569","https://openalex.org/W2941580829","https://openalex.org/W3002305901","https://openalex.org/W3025528286","https://openalex.org/W3100010314","https://openalex.org/W3116754586","https://openalex.org/W3127929700","https://openalex.org/W3154646763"],"related_works":["https://openalex.org/W3097847178","https://openalex.org/W609904040","https://openalex.org/W4360903416","https://openalex.org/W3125204845","https://openalex.org/W2021581299","https://openalex.org/W229441251","https://openalex.org/W2483563543","https://openalex.org/W2250707195","https://openalex.org/W2173510829","https://openalex.org/W4387266582"],"abstract_inverted_index":{"Locomotion":[0],"failure":[1],"is":[2,43,139,155],"the":[3,18,34,51,96,120,125,142,152,171,186,195],"challenge":[4,45],"for":[5,50,67,141,201],"wheeled":[6],"robots":[7,204],"applied":[8],"in":[9,148,205],"granular":[10,40,88,149,206],"media,":[11,41,150],"which":[12],"puts":[13],"a":[14,24,27,44,59,134],"high":[15],"demand":[16],"on":[17,101,119],"design":[19,48,143],"of":[20,26,98,137,144,188],"wheels.":[21],"Due":[22],"to":[23,46,82,160],"lack":[25],"mechanical":[28,110],"analysis":[29],"method":[30,65],"that":[31,170],"can":[32,79,94,112,174],"analyze":[33],"dynamic":[35,69],"interaction":[36],"between":[37,106],"wheel":[38,52,107,121,154,173,183,198],"and":[39,90,109,123,151,165,178,194],"it":[42],"seek":[47],"guidance":[49],"geometry.":[53],"To":[54],"this":[55,72,132],"end,":[56],"we":[57],"introduce":[58],"Dynamic":[60],"Resistive":[61,75],"Force":[62,76],"Model":[63],"(DRFM)":[64],"suitable":[66],"3D":[68,83],"intrusion.":[70],"In":[71],"method,":[73],"Granular":[74],"Theory":[77],"(RFT)":[78],"be":[80,113],"extended":[81],"RFT":[84],"smoothly":[85],"by":[86,115,128],"using":[87],"parameters,":[89],"additional":[91],"velocity":[92,100],"terms":[93],"describe":[95],"effect":[97],"intrusion":[99,102],"force.":[103],"The":[104,191],"relationship":[105],"geometry":[108],"properties":[111],"established":[114],"performing":[116],"differential":[117],"processing":[118],"surface":[122],"integrating":[124],"force":[126],"generated":[127],"each":[129],"micro-surface.":[130],"On":[131],"basis,":[133],"complete":[135],"set":[136],"solutions":[138],"proposed":[140,192],"mobile":[145,203],"robot":[146],"wheels":[147],"screw-propelled":[153,182,197],"taken":[156],"as":[157],"an":[158],"example":[159],"optimize":[161],"it.":[162],"Theories,":[163],"simulations,":[164],"experiments":[166],"have":[167],"all":[168],"proved":[169],"optimized":[172,196],"produce":[175],"greater":[176],"thrust":[177],"lift":[179],"than":[180],"normal":[181],"when":[184],"ensuring":[185],"stability":[187],"smooth":[189],"propulsion.":[190],"solution":[193],"bring":[199],"insights":[200],"designing":[202],"media.":[207]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
