{"id":"https://openalex.org/W4406947012","doi":"https://doi.org/10.1109/lra.2025.3534681","title":"Differential-Driven Wheeled Mobile Robot Mechanism With High Step-Climbing Ability","display_name":"Differential-Driven Wheeled Mobile Robot Mechanism With High Step-Climbing Ability","publication_year":2025,"publication_date":"2025-01-29","ids":{"openalex":"https://openalex.org/W4406947012","doi":"https://doi.org/10.1109/lra.2025.3534681"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3534681","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3534681","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":null,"display_name":"Woojae Lee","orcid":"https://orcid.org/0009-0009-2358-5762"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Woojae Lee","raw_affiliation_strings":["Department of Convergence Mechanical Engineering, Hanyang University, Seoul, South Korea","Department of Convergence Mechanical Engineering, Hanyang University, Seoul, Rep. of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Convergence Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Department of Convergence Mechanical Engineering, Hanyang University, Seoul, Rep. of Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049548427","display_name":"T.H. Kim","orcid":"https://orcid.org/0009-0003-1371-8804"},"institutions":[{"id":"https://openalex.org/I4210157693","display_name":"Hyundai Research Institute","ror":"https://ror.org/04tv6gw72","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210157693"]},{"id":"https://openalex.org/I49946491","display_name":"Hyundai Motors (South Korea)","ror":"https://ror.org/016kvft77","country_code":"KR","type":"company","lineage":["https://openalex.org/I197312522","https://openalex.org/I49946491"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Taehyun Kim","raw_affiliation_strings":["HD Hyundai Robotics, Gyeonggi, South Korea","HD Hyundai Robotics, Gyeonggi, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"HD Hyundai Robotics, Gyeonggi, South Korea","institution_ids":["https://openalex.org/I4210157693","https://openalex.org/I49946491"]},{"raw_affiliation_string":"HD Hyundai Robotics, Gyeonggi, Republic of Korea","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100601111","display_name":"Jeongeun Kim","orcid":"https://orcid.org/0000-0002-7274-2332"},"institutions":[{"id":"https://openalex.org/I4210157693","display_name":"Hyundai Research Institute","ror":"https://ror.org/04tv6gw72","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210157693"]},{"id":"https://openalex.org/I49946491","display_name":"Hyundai Motors (South Korea)","ror":"https://ror.org/016kvft77","country_code":"KR","type":"company","lineage":["https://openalex.org/I197312522","https://openalex.org/I49946491"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jeongeun Kim","raw_affiliation_strings":["HD Hyundai Robotics, Gyeonggi, South Korea","HD Hyundai Robotics, Gyeonggi, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"HD Hyundai Robotics, Gyeonggi, South Korea","institution_ids":["https://openalex.org/I4210157693","https://openalex.org/I49946491"]},{"raw_affiliation_string":"HD Hyundai Robotics, Gyeonggi, Republic of Korea","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000423233","display_name":"TaeWon Seo","orcid":"https://orcid.org/0000-0001-9447-7675"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"TaeWon Seo","raw_affiliation_strings":["Department of Convergence Mechanical Engineering, Hanyang University, Seoul, South Korea","Department of Convergence Mechanical Engineering, Hanyang University, Seoul, Rep. of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Convergence Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Department of Convergence Mechanical Engineering, Hanyang University, Seoul, Rep. of Korea","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4575257"],"apc_list":null,"apc_paid":null,"fwci":4.7675,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.94179347,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"10","issue":"3","first_page":"2702","last_page":"2709"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9139999747276306,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9139999747276306,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.8173549175262451},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.8137071132659912},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6669725179672241},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.548502504825592},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4969642460346222},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48516708612442017},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3654022812843323},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2893432676792145},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2195073664188385},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.11173391342163086},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10656529664993286},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.05679774284362793}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.8173549175262451},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.8137071132659912},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6669725179672241},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.548502504825592},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4969642460346222},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48516708612442017},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3654022812843323},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2893432676792145},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2195073664188385},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.11173391342163086},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10656529664993286},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.05679774284362793},{"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.2025.3534681","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3534681","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1982288243","https://openalex.org/W1996628103","https://openalex.org/W2006963378","https://openalex.org/W2060157691","https://openalex.org/W2083884572","https://openalex.org/W2149655703","https://openalex.org/W2339217605","https://openalex.org/W2591354944","https://openalex.org/W2755163439","https://openalex.org/W2783245248","https://openalex.org/W2784107174","https://openalex.org/W3090352594","https://openalex.org/W3091051504","https://openalex.org/W3157458791","https://openalex.org/W4205907649","https://openalex.org/W4285218377","https://openalex.org/W4327774567","https://openalex.org/W4380881403","https://openalex.org/W4403675447","https://openalex.org/W6772125007"],"related_works":["https://openalex.org/W643038845","https://openalex.org/W2143761673","https://openalex.org/W2521924929","https://openalex.org/W2392978157","https://openalex.org/W2364780071","https://openalex.org/W4313245278","https://openalex.org/W3212815067","https://openalex.org/W2284468552","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Differential-driven":[0],"wheeled":[1,21,38,232],"mobile":[2,9,22,39,102,233],"robots,":[3],"such":[4],"as":[5,167,169],"logistics":[6],"robots":[7,23],"and":[8,48,62,164,203],"manipulators,":[10],"are":[11,24],"used":[12,90],"for":[13,161,237],"various":[14,230],"tasks":[15],"on":[16,30],"flat":[17,31],"ground.":[18,32],"These":[19],"differential-driven":[20,37,63,231],"highly":[25],"environmentally":[26],"constrained":[27],"when":[28],"driven":[29],"This":[33,55],"study":[34],"proposes":[35],"a":[36,96,171,192],"mechanism":[40,141],"of":[41,74,76,86,113,133,145,181,208],"the":[42,49,59,66,72,83,87,93,101,111,114,118,122,130,134,139,146,179,186,197,200,205,209,214,218],"robot":[43,116,158,234],"with":[44,239],"high":[45,107,165],"step-climbing":[46],"ability":[47,67,104,123],"capability":[50],"to":[51,68,82,91,99,105,124,151,195,213,229],"navigate":[52,153],"narrow":[53,154],"paths.":[54],"work":[56],"shows":[57],"that":[58,223],"novel":[60,193],"wheel":[61,88,194,202,211],"module":[64],"improve":[65,100,204],"climb":[69,106,125],"stairs":[70,126,163],"through":[71,117],"transfer":[73],"center":[75,180],"mass":[77,182],"(C.O.M).":[78],"A":[79],"sub-wheel":[80],"connected":[81],"passive":[84],"joint":[85],"is":[89,136,183],"convert":[92],"drive":[94],"into":[95],"vertical":[97],"force":[98,132],"robot's":[103,147],"stairs.":[108],"By":[109],"pitching":[110],"body":[112],"wheel-powered":[115],"advanced":[119],"reaction":[120,131],"force,":[121],"in":[127,185,199,217],"reverse":[128],"using":[129],"wall":[135],"improved.":[137],"Furthermore,":[138],"proposed":[140],"enables":[142],"precise":[143],"control":[144],"path,":[148],"allowing":[149],"it":[150],"effectively":[152],"spaces.":[155,241],"The":[156],"prototype":[157],"was":[159],"tested":[160],"climbing":[162,170,175],"steps,":[166],"well":[168],"deformable":[172],"slope":[173],"while":[174],"obstacles.":[176],"Even":[177],"if":[178],"located":[184],"driving":[187,219],"direction,":[188],"this":[189,224],"result":[190],"uses":[191],"overcome":[196],"step":[198],"front":[201],"overcoming":[206],"performance":[207],"rear":[210],"owing":[212],"center-of-mass":[215],"position":[216],"direction.":[220],"We":[221],"expect":[222],"method":[225],"will":[226],"be":[227],"applicable":[228],"mechanisms,":[235],"especially":[236],"environments":[238],"confined":[240]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2}],"updated_date":"2026-04-14T08:04:32.555800","created_date":"2025-10-10T00:00:00"}