{"id":"https://openalex.org/W4386883402","doi":"https://doi.org/10.1109/rcar58764.2023.10249980","title":"Dynamic modeling of a simplified model of omni-directional wheels *","display_name":"Dynamic modeling of a simplified model of omni-directional wheels *","publication_year":2023,"publication_date":"2023-07-17","ids":{"openalex":"https://openalex.org/W4386883402","doi":"https://doi.org/10.1109/rcar58764.2023.10249980"},"language":"en","primary_location":{"id":"doi:10.1109/rcar58764.2023.10249980","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/rcar58764.2023.10249980","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5101746682","display_name":"Wang Yong","orcid":"https://orcid.org/0000-0003-3299-3580"},"institutions":[{"id":"https://openalex.org/I176834541","display_name":"Guangdong Medical College","ror":"https://ror.org/04k5rxe29","country_code":"CN","type":"education","lineage":["https://openalex.org/I176834541"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wang Yong","raw_affiliation_strings":["Guangdong Medical University,School of Biomedical Engineering,Dongguan,China,523808","Songshan Lake Innovation Center of Medicine & Engineering, Guangdong Medical University, Dongguan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Medical University,School of Biomedical Engineering,Dongguan,China,523808","institution_ids":["https://openalex.org/I176834541"]},{"raw_affiliation_string":"Songshan Lake Innovation Center of Medicine & Engineering, Guangdong Medical University, Dongguan, China","institution_ids":["https://openalex.org/I176834541"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100576566","display_name":"Ling Yin","orcid":null},"institutions":[{"id":"https://openalex.org/I176834541","display_name":"Guangdong Medical College","ror":"https://ror.org/04k5rxe29","country_code":"CN","type":"education","lineage":["https://openalex.org/I176834541"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yin Ling","raw_affiliation_strings":["Guangdong Medical University,School of Biomedical Engineering,Dongguan,China,523808"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Medical University,School of Biomedical Engineering,Dongguan,China,523808","institution_ids":["https://openalex.org/I176834541"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039638112","display_name":"Cui Jinchao","orcid":null},"institutions":[{"id":"https://openalex.org/I176834541","display_name":"Guangdong Medical College","ror":"https://ror.org/04k5rxe29","country_code":"CN","type":"education","lineage":["https://openalex.org/I176834541"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cui Jinchao","raw_affiliation_strings":["Guangdong Medical University,School of Biomedical Engineering,Dongguan,China,523808"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Medical University,School of Biomedical Engineering,Dongguan,China,523808","institution_ids":["https://openalex.org/I176834541"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066514139","display_name":"Zhang Huailing","orcid":null},"institutions":[{"id":"https://openalex.org/I176834541","display_name":"Guangdong Medical College","ror":"https://ror.org/04k5rxe29","country_code":"CN","type":"education","lineage":["https://openalex.org/I176834541"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhang Huailing","raw_affiliation_strings":["Guangdong Medical University,School of Biomedical Engineering,Dongguan,China,523808","Dongguan Key Laboratory of Medical Electronics and Medical Imaging Equipment, Dongguan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Medical University,School of Biomedical Engineering,Dongguan,China,523808","institution_ids":["https://openalex.org/I176834541"]},{"raw_affiliation_string":"Dongguan Key Laboratory of Medical Electronics and Medical Imaging Equipment, Dongguan, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I176834541"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.17776349,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"17","issue":null,"first_page":"522","last_page":"526"},"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":0.9998000264167786,"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":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9782999753952026,"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"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9417999982833862,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/nonholonomic-system","display_name":"Nonholonomic system","score":0.8991506099700928},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6272546648979187},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5722783803939819},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.560730516910553},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4998605251312256},{"id":"https://openalex.org/keywords/differential-equation","display_name":"Differential equation","score":0.4742892384529114},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4627501964569092},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.4318860173225403},{"id":"https://openalex.org/keywords/equations-of-motion","display_name":"Equations of motion","score":0.4317283034324646},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4248164892196655},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3449796438217163},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.29558485746383667},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.23118340969085693},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2166937291622162},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.190891295671463},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.19068661332130432},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17442840337753296},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1541765332221985},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.126054584980011},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08278387784957886}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.8991506099700928},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6272546648979187},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5722783803939819},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.560730516910553},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4998605251312256},{"id":"https://openalex.org/C78045399","wikidata":"https://www.wikidata.org/wiki/Q11214","display_name":"Differential equation","level":2,"score":0.4742892384529114},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4627501964569092},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.4318860173225403},{"id":"https://openalex.org/C14037181","wikidata":"https://www.wikidata.org/wiki/Q215007","display_name":"Equations of motion","level":2,"score":0.4317283034324646},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4248164892196655},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3449796438217163},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29558485746383667},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.23118340969085693},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2166937291622162},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.190891295671463},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.19068661332130432},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17442840337753296},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1541765332221985},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.126054584980011},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08278387784957886},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar58764.2023.10249980","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/rcar58764.2023.10249980","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8399999737739563,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1890372639","https://openalex.org/W2055265457","https://openalex.org/W2120325997","https://openalex.org/W2782907851","https://openalex.org/W3014914071","https://openalex.org/W3197909203","https://openalex.org/W4312878212"],"related_works":["https://openalex.org/W3125414203","https://openalex.org/W2039659752","https://openalex.org/W2360501088","https://openalex.org/W2013177426","https://openalex.org/W1980488552","https://openalex.org/W2092382675","https://openalex.org/W2016073943","https://openalex.org/W2018918536","https://openalex.org/W772019258","https://openalex.org/W1530705471"],"abstract_inverted_index":{"In":[0,57],"this":[1,59],"paper,":[2],"omni-directional":[3,69,93],"wheels":[4],"is":[5],"simplified":[6,19,65],"as":[7],"a":[8,76,82],"3-degree-of-freedom":[9],"nonholonomic":[10,34],"system.":[11],"The":[12],"differential":[13,38],"equations":[14,39],"of":[15,17,40,52,67,87,92],"motion":[16,41],"the":[18,31,49,53,64,68,85,88],"model":[20,66],"in":[21],"its":[22],"different":[23],"reduced":[24,54],"configuration":[25,55],"spaces":[26],"are":[27,42],"studied":[28],"by":[29,74],"using":[30],"first-order":[32],"linear":[33],"mapping":[35],"theory.":[36],"These":[37],"equivalent,":[43],"but":[44],"their":[45],"form":[46],"depends":[47],"on":[48],"geometric":[50],"structure":[51],"space.":[56],"particular,":[58],"paper":[60],"points":[61],"out":[62],"that":[63],"wheel":[70],"can":[71],"be":[72],"quasi-canonicalized":[73],"selecting":[75],"special":[77],"quasi-coordinate.":[78],"This":[79],"will":[80],"lay":[81],"foundation":[83],"for":[84],"study":[86],"Hamilton":[89],"control":[90],"method":[91],"wheels.":[94]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
