{"id":"https://openalex.org/W4409763211","doi":"https://doi.org/10.1109/lra.2025.3564207","title":"ODD: Omni Differential Drive for Simultaneous Reconfiguration and Omnidirectional Mobility of Wheeled Robots","display_name":"ODD: Omni Differential Drive for Simultaneous Reconfiguration and Omnidirectional Mobility of Wheeled Robots","publication_year":2025,"publication_date":"2025-04-24","ids":{"openalex":"https://openalex.org/W4409763211","doi":"https://doi.org/10.1109/lra.2025.3564207"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3564207","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3564207","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":"Ziqi Zhao","orcid":"https://orcid.org/0000-0002-3286-8387"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziqi Zhao","raw_affiliation_strings":["Shenzhen Key Laboratory of Robotics Perception and Intelligence, and the Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-3286-8387","affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Robotics Perception and Intelligence, and the Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016985038","display_name":"Peijia Xie","orcid":"https://orcid.org/0009-0009-5743-2369"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peijia Xie","raw_affiliation_strings":["Shenzhen Key Laboratory of Robotics Perception and Intelligence, and the Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Robotics Perception and Intelligence, and the Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043461784","display_name":"Jiankun Wang","orcid":"https://orcid.org/0000-0001-9139-0291"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiankun Wang","raw_affiliation_strings":["Shenzhen Key Laboratory of Robotics Perception and Intelligence, and the Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-9139-0291","affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Robotics Perception and Intelligence, and the Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":"https://orcid.org/0000-0002-5255-5898"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["Shenzhen Key Laboratory of Robotics Perception and Intelligence, and the Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-5255-5898","affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Robotics Perception and Intelligence, and the Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":1.0955,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.7662718,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"10","issue":"6","first_page":"5975","last_page":"5982"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13664","display_name":"Genome Rearrangement Algorithms","score":0.8859999775886536,"subfield":{"id":"https://openalex.org/subfields/1311","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T13664","display_name":"Genome Rearrangement Algorithms","score":0.8859999775886536,"subfield":{"id":"https://openalex.org/subfields/1311","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10171","display_name":"Biofuel production and bioconversion","score":0.8130999803543091,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.7814000248908997,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.7650327086448669},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.7597929239273071},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6427907943725586},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.6099614500999451},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5016026496887207},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4326635003089905},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2318415641784668},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21832722425460815},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.1983269453048706},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.17428314685821533},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.10523852705955505}],"concepts":[{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.7650327086448669},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.7597929239273071},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6427907943725586},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.6099614500999451},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5016026496887207},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4326635003089905},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2318415641784668},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21832722425460815},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.1983269453048706},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.17428314685821533},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.10523852705955505},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3564207","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3564207","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":0.4000000059604645,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G1328130129","display_name":null,"funder_award_id":"62473191","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2001992014","display_name":null,"funder_award_id":"2025A1515012998","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W75405610","https://openalex.org/W2007141417","https://openalex.org/W2037729465","https://openalex.org/W2123860492","https://openalex.org/W2142687309","https://openalex.org/W2167783228","https://openalex.org/W2750844959","https://openalex.org/W2925761457","https://openalex.org/W2969181851","https://openalex.org/W3008868445","https://openalex.org/W3010824687","https://openalex.org/W3017818385","https://openalex.org/W3089437668","https://openalex.org/W3157726770","https://openalex.org/W3184924518","https://openalex.org/W4283775706","https://openalex.org/W4284975089","https://openalex.org/W4309469416","https://openalex.org/W4319990558","https://openalex.org/W4360993006","https://openalex.org/W4366125175","https://openalex.org/W4389897650","https://openalex.org/W6698284285"],"related_works":["https://openalex.org/W1981002473","https://openalex.org/W2357657342","https://openalex.org/W2153432761","https://openalex.org/W2152623100","https://openalex.org/W4214878056","https://openalex.org/W1580144672","https://openalex.org/W2142042635","https://openalex.org/W1988127757","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Wheeled":[0],"robots":[1,73],"are":[2],"highly":[3],"efficient":[4],"in":[5],"human":[6,38],"living":[7],"environments.":[8],"However,":[9],"conventional":[10],"wheeled":[11,72],"designs,":[12],"limited":[13],"by":[14,37,92],"degrees":[15],"of":[16,110,117,126,137],"freedom,":[17],"struggle":[18],"to":[19,56,64,74,87,131],"meet":[20],"varying":[21],"footprint":[22],"needs":[23],"and":[24,79,99,103,114,135],"achieve":[25,75],"omnidirectional":[26,67,80],"mobility.":[27,81],"This":[28,69],"paper":[29],"proposes":[30],"a":[31,52,83],"novel":[32],"robot":[33],"drive":[34,55,129],"model":[35,49],"inspired":[36],"movements,":[39],"termed":[40],"as":[41],"the":[42,65,89,108,111,115,118,124,133],"Omni":[43],"Differential":[44],"Drive":[45],"(ODD).":[46],"The":[47,121],"ODD":[48,112],"innovatively":[50],"utilizes":[51],"lateral":[53],"differential":[54],"adjust":[57],"wheel":[58],"spacing":[59],"without":[60],"adding":[61],"additional":[62],"actuators":[63],"existing":[66],"drive.":[68],"approach":[70],"enables":[71],"both":[76],"simultaneous":[77],"reconfiguration":[78],"Additionally,":[82],"prototype":[84],"was":[85],"developed":[86],"validate":[88],"ODD,":[90],"followed":[91],"kinematic":[93],"analysis.":[94],"Control":[95],"systems":[96],"for":[97],"self-balancing":[98],"motion":[100],"were":[101],"designed":[102],"implemented.":[104],"Experimental":[105],"validations":[106],"confirmed":[107],"feasibility":[109],"mechanism":[113],"effectiveness":[116],"control":[119],"strategies.":[120],"results":[122],"underline":[123],"potential":[125],"this":[127],"innovative":[128],"system":[130],"enhance":[132],"mobility":[134],"adaptability":[136],"robotic":[138],"platforms.":[139]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-11T05:44:25.926202","created_date":"2025-10-10T00:00:00"}
