{"id":"https://openalex.org/W4315750648","doi":"https://doi.org/10.1109/lra.2023.3236574","title":"Linear Prediction of High-Slip Sinkage for Planetary Rovers\u2019 Lugged-Wheels Based on Superposition Principle","display_name":"Linear Prediction of High-Slip Sinkage for Planetary Rovers\u2019 Lugged-Wheels Based on Superposition Principle","publication_year":2023,"publication_date":"2023-01-12","ids":{"openalex":"https://openalex.org/W4315750648","doi":"https://doi.org/10.1109/lra.2023.3236574"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3236574","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3236574","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/A5091864119","display_name":"Wang Zheng-yin","orcid":"https://orcid.org/0000-0002-2418-6167"},"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":"Zhengyin Wang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-2418-6167","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":"https://openalex.org/A5068394600","display_name":"Huaiguang Yang","orcid":"https://orcid.org/0000-0001-6747-0988"},"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":"Huaiguang Yang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-6747-0988","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/A5030160006","display_name":"Qingning Lan","orcid":"https://orcid.org/0000-0002-5615-9315"},"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":"Qingning Lan","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-5615-9315","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"],"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"]}]},{"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"],"raw_orcid":"https://orcid.org/0000-0003-2432-8329","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":1.6099,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.79934437,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"8","issue":"3","first_page":"1247","last_page":"1254"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9993000030517578,"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":0.9993000030517578,"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/T10406","display_name":"Planetary Science and Exploration","score":0.9926999807357788,"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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9900000095367432,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/superposition-principle","display_name":"Superposition principle","score":0.7026804685592651},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.6196048259735107},{"id":"https://openalex.org/keywords/shearing","display_name":"Shearing (physics)","score":0.4639633893966675},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.46188539266586304},{"id":"https://openalex.org/keywords/particle-displacement","display_name":"Particle displacement","score":0.4398629665374756},{"id":"https://openalex.org/keywords/geotechnical-engineering","display_name":"Geotechnical engineering","score":0.41939714550971985},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37418127059936523},{"id":"https://openalex.org/keywords/amplitude","display_name":"Amplitude","score":0.15148016810417175},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.138004332780838},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1190308928489685},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10301929712295532}],"concepts":[{"id":"https://openalex.org/C27753989","wikidata":"https://www.wikidata.org/wiki/Q284885","display_name":"Superposition principle","level":2,"score":0.7026804685592651},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.6196048259735107},{"id":"https://openalex.org/C152279782","wikidata":"https://www.wikidata.org/wiki/Q13583542","display_name":"Shearing (physics)","level":2,"score":0.4639633893966675},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.46188539266586304},{"id":"https://openalex.org/C86038547","wikidata":"https://www.wikidata.org/wiki/Q779457","display_name":"Particle displacement","level":3,"score":0.4398629665374756},{"id":"https://openalex.org/C187320778","wikidata":"https://www.wikidata.org/wiki/Q1349130","display_name":"Geotechnical engineering","level":1,"score":0.41939714550971985},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37418127059936523},{"id":"https://openalex.org/C180205008","wikidata":"https://www.wikidata.org/wiki/Q159190","display_name":"Amplitude","level":2,"score":0.15148016810417175},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.138004332780838},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1190308928489685},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10301929712295532},{"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/lra.2023.3236574","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3236574","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":[{"id":"https://metadata.un.org/sdg/14","score":0.49000000953674316,"display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G3522188891","display_name":null,"funder_award_id":"FRFCU9803500621","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G3663909988","display_name":null,"funder_award_id":"51,822,502","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5442250454","display_name":null,"funder_award_id":"52205011","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/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":25,"referenced_works":["https://openalex.org/W1908079484","https://openalex.org/W1969986267","https://openalex.org/W1979066010","https://openalex.org/W1986469871","https://openalex.org/W1987424218","https://openalex.org/W2016248871","https://openalex.org/W2029266383","https://openalex.org/W2032672272","https://openalex.org/W2059391268","https://openalex.org/W2064690350","https://openalex.org/W2069635875","https://openalex.org/W2090340418","https://openalex.org/W2160371016","https://openalex.org/W2376260505","https://openalex.org/W2790582530","https://openalex.org/W2791089965","https://openalex.org/W2798404144","https://openalex.org/W2808973354","https://openalex.org/W3033340708","https://openalex.org/W3042026327","https://openalex.org/W3044924753","https://openalex.org/W3047894936","https://openalex.org/W4226401214","https://openalex.org/W4239416208","https://openalex.org/W6749663887"],"related_works":["https://openalex.org/W4308749380","https://openalex.org/W2372481764","https://openalex.org/W2610947892","https://openalex.org/W1977264433","https://openalex.org/W2746368218","https://openalex.org/W4308448008","https://openalex.org/W2037841693","https://openalex.org/W2347371661","https://openalex.org/W2012943989","https://openalex.org/W2287286086"],"abstract_inverted_index":{"Planetary":[0],"rovers":[1,18],"with":[2,87,154],"lugged-wheels":[3,33,47],"are":[4,19],"the":[5,53,88,97,109,118,141,166,170,173,177],"primary":[6],"equipment":[7],"for":[8,46,134,147,185],"Mars":[9],"exploration,":[10],"and":[11,37,40,75,100,117,163,176],"as":[12],"exploration":[13],"missions":[14],"become":[15],"more":[16,23],"complex,":[17],"expected":[20],"move":[21],"into":[22,68],"challenging":[24],"terrains.":[25],"When":[26],"moving":[27],"over":[28,159],"soft":[29],"sand":[30],"or":[31],"slopes,":[32],"experience":[34],"high":[35,186],"slip":[36,98,148,187],"heavy":[38],"sinkage,":[39,70,72,74,77,175],"an":[41,127],"explicit":[42,128],"sinkage":[43,64,83,93,102,113,122,146],"prediction":[44,129,156,179],"model":[45,130,143,180],"is":[48,84,94,103],"not":[49],"available.":[50],"This":[51],"limits":[52],"motion":[54,80],"control":[55,188],"of":[56,112,121,158,165,172,189],"planetary":[57],"rovers.":[58,190],"Here,":[59],"we":[60],"show":[61],"that":[62,140],"wheel":[63],"can":[65,144],"be":[66],"divided":[67],"static":[69],"rolling":[71],"shearing":[73,92],"digging":[76,101],"based":[78],"on":[79],"decomposition.":[81],"Static":[82],"in":[85],"accordance":[86],"modified":[89],"Archimedes'":[90],"theorem,":[91],"proportional":[95,104],"to":[96,105,125,152],"ratio,":[99],"rim":[106],"displacement.":[107],"Furthermore,":[108],"superposition":[110],"principle":[111],"has":[114],"been":[115],"proved,":[116],"various":[119],"types":[120],"were":[123],"superimposed":[124],"obtain":[126],"without":[131],"terramechanics":[132],"parameters":[133],"lugged-wheels.":[135],"The":[136,161],"single-wheel":[137],"test":[138],"proves":[139],"linear":[142,178],"predict":[145],"conditions":[149],"from":[150],"0":[151],"0.9":[153],"a":[155,182],"accuracy":[157],"90%.":[160],"decomposition":[162],"modeling":[164],"sub-sinkage":[167],"further":[168],"explores":[169],"intrinsic":[171],"lugged-wheels\u2019":[174],"provides":[181],"theoretical":[183],"basis":[184]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}
