{"id":"https://openalex.org/W1968631166","doi":"https://doi.org/10.1109/ramech.2008.4690885","title":"Kinematics control of wheeled robot based on angular rate sensors","display_name":"Kinematics control of wheeled robot based on angular rate sensors","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W1968631166","doi":"https://doi.org/10.1109/ramech.2008.4690885","mag":"1968631166"},"language":"en","primary_location":{"id":"doi:10.1109/ramech.2008.4690885","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2008.4690885","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","raw_type":"proceedings-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/A5045059773","display_name":"Diansheng Chen","orcid":"https://orcid.org/0000-0003-4599-876X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Diansheng Chen","raw_affiliation_strings":["Institute of Robotics Research, Beihang University, Beijing, China","Beihang University, Beijing, P.R. China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics Research, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Beihang University, Beijing, P.R. China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065111071","display_name":"Feng Bai","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Bai","raw_affiliation_strings":["Institute of Robotics Research, Beihang University, Beijing, China","Beihang University, Beijing, P.R. China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics Research, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Beihang University, Beijing, P.R. China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047246542","display_name":"Lin Wu","orcid":"https://orcid.org/0000-0002-7376-5384"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Wu","raw_affiliation_strings":["Institute of Robotics Research, Beihang University, Beijing, China","Beihang University, Beijing, P.R. China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics Research, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Beihang University, Beijing, P.R. China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5045059773"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.04656907,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"33","issue":null,"first_page":"598","last_page":"602"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9914000034332275,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9914000034332275,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T14225","display_name":"Advanced Sensor and Control Systems","score":0.9858999848365784,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T14163","display_name":"Astronomical Observations and Instrumentation","score":0.9785000085830688,"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/gyroscope","display_name":"Gyroscope","score":0.7178263664245605},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7033025622367859},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6782031059265137},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5678455829620361},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5323973298072815},{"id":"https://openalex.org/keywords/polygon","display_name":"Polygon (computer graphics)","score":0.5314964652061462},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.5245478749275208},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5181792378425598},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4955805540084839},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.4906238615512848},{"id":"https://openalex.org/keywords/rotary-encoder","display_name":"Rotary encoder","score":0.46125614643096924},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.45299243927001953},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.4251355230808258},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.4143044352531433},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40411192178726196},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36539894342422485},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3453404903411865},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3169931173324585},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31611955165863037},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.26117080450057983},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14735737442970276},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11517482995986938}],"concepts":[{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.7178263664245605},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7033025622367859},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6782031059265137},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5678455829620361},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5323973298072815},{"id":"https://openalex.org/C190694206","wikidata":"https://www.wikidata.org/wiki/Q3276654","display_name":"Polygon (computer graphics)","level":3,"score":0.5314964652061462},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.5245478749275208},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5181792378425598},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4955805540084839},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.4906238615512848},{"id":"https://openalex.org/C37488316","wikidata":"https://www.wikidata.org/wiki/Q53699","display_name":"Rotary encoder","level":3,"score":0.46125614643096924},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.45299243927001953},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.4251355230808258},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.4143044352531433},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40411192178726196},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36539894342422485},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3453404903411865},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3169931173324585},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31611955165863037},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.26117080450057983},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14735737442970276},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11517482995986938},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ramech.2008.4690885","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2008.4690885","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.7099999785423279,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W336120356","https://openalex.org/W2066260126","https://openalex.org/W2102940480","https://openalex.org/W2107096341","https://openalex.org/W2111152968","https://openalex.org/W2116358252","https://openalex.org/W2980070341","https://openalex.org/W4285719527","https://openalex.org/W6611528071"],"related_works":["https://openalex.org/W3129004068","https://openalex.org/W3134555460","https://openalex.org/W1977532088","https://openalex.org/W2154286641","https://openalex.org/W2061871196","https://openalex.org/W339676884","https://openalex.org/W2744818472","https://openalex.org/W2372526530","https://openalex.org/W2304947037","https://openalex.org/W1980847097"],"abstract_inverted_index":{"To":[0],"improve":[1],"the":[2,6,11,18,49,54,75,79,101,109,113,136,138],"navigation":[3],"precision":[4],"of":[5,48,78,98,100],"ground":[7],"wheeled":[8],"robot,":[9],"implement":[10],"autonomous":[12],"kinematics":[13,46],"motion":[14],"control,":[15],"and":[16,31,53,81,149],"overcome":[17],"yawing":[19,76],"problem":[20],"when":[21],"only":[22],"using":[23,143],"an":[24],"optical":[25],"encoder,":[26],"a":[27,57,64,87,92,117,123],"small-sized,":[28],"low":[29],"cost":[30,151],"reusable":[32],"independent":[33],"angular":[34,69],"rate":[35,70],"sensor":[36],"(gyroscope)":[37],"module":[38],"based":[39,62],"on":[40,63],"iMEMS":[41],"technique":[42],"is":[43,51,66,71,84],"used.":[44],"The":[45,68,95],"model":[47],"robot":[50,58,80,114,139],"explained,":[52],"principle":[55],"that":[56,130],"can":[59],"move":[60,121],"straight":[61],"gyroscope":[65],"proposed.":[67],"sampled":[72],"to":[73,107,115],"get":[74],"angle":[77,119],"then":[82],"it":[83],"inputted":[85],"into":[86],"digital":[88],"PID":[89],"controller":[90],"with":[91],"dead":[93],"zone.":[94],"incremental":[96],"speeds":[97],"each":[99],"two":[102],"driving":[103],"wheels":[104],"are":[105,125],"calculated":[106],"attenuate":[108],"deviation.":[110],"Methods":[111],"for":[112],"turn":[116],"fixed":[118],"or":[120,146],"along":[122],"polygon":[124],"also":[126],"presented.":[127],"Experiments":[128],"show":[129],"these":[131],"algorithms":[132,145],"have":[133],"effectively":[134],"improved":[135],"performance":[137],"moves":[140],"rather":[141],"than":[142],"time-consuming":[144],"installing":[147],"bulky":[148],"power":[150],"computers.":[152]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}