{"id":"https://openalex.org/W2163825260","doi":"https://doi.org/10.1109/robio.2009.4913035","title":"System and design of an Omni-directional vehicle","display_name":"System and design of an Omni-directional vehicle","publication_year":2009,"publication_date":"2009-02-01","ids":{"openalex":"https://openalex.org/W2163825260","doi":"https://doi.org/10.1109/robio.2009.4913035","mag":"2163825260"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.4913035","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913035","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","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/A5044361827","display_name":"Huihuan Qian","orcid":"https://orcid.org/0000-0001-8269-0882"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Huihuan Qian","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076185690","display_name":"Tin Lun Lam","orcid":"https://orcid.org/0000-0002-6363-1446"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tin Lun Lam","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100367603","display_name":"Weimin Li","orcid":"https://orcid.org/0000-0001-8134-2157"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weimin Li","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011708993","display_name":"Chenggang Xia","orcid":"https://orcid.org/0009-0008-3496-0591"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenggang Xia","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112309496","display_name":"Yangsheng Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yangsheng Xu","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5044361827"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":7.6541,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.97029313,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"389","last_page":"394"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9993000030517578,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9829999804496765,"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/computer-science","display_name":"Computer science","score":0.5664432048797607},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.554363489151001},{"id":"https://openalex.org/keywords/turning-radius","display_name":"Turning radius","score":0.5454493165016174},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5313805937767029},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.5243920683860779},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4150041937828064},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.37833595275878906},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3448837399482727},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3444451689720154},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32760947942733765},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2193678915500641},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.21444663405418396},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20618152618408203},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14321881532669067}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5664432048797607},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.554363489151001},{"id":"https://openalex.org/C205148227","wikidata":"https://www.wikidata.org/wiki/Q2558948","display_name":"Turning radius","level":2,"score":0.5454493165016174},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5313805937767029},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.5243920683860779},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4150041937828064},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.37833595275878906},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3448837399482727},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3444451689720154},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32760947942733765},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2193678915500641},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.21444663405418396},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20618152618408203},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14321881532669067},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.4913035","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913035","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5099999904632568}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322170","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86"},{"id":"https://openalex.org/F4320322942","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W182610829","https://openalex.org/W1544016679","https://openalex.org/W1628771089","https://openalex.org/W2126826364","https://openalex.org/W2136959507","https://openalex.org/W2149012351","https://openalex.org/W2161891224","https://openalex.org/W2540772442","https://openalex.org/W4238677039","https://openalex.org/W4285523297","https://openalex.org/W4285719527","https://openalex.org/W6632920698"],"related_works":["https://openalex.org/W1980419027","https://openalex.org/W1655720158","https://openalex.org/W2369361542","https://openalex.org/W769655569","https://openalex.org/W1499828956","https://openalex.org/W647759170","https://openalex.org/W2366854666","https://openalex.org/W2492925340","https://openalex.org/W2595523213","https://openalex.org/W2006176066"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,41],"novel":[4],"vehicle":[5,59],"named":[6],"omni-directional":[7,43],"Kart":[8],"(OK-1),":[9],"in":[10,63],"which":[11],"robotic":[12],"technologies,":[13],"such":[14,45],"as":[15,46],"4":[16,22],"wheel":[17,23],"independent":[18,24],"driving":[19],"(4WID)":[20],"and":[21,35,51,61],"steering":[25],"(4WIS),":[26],"are":[27,55],"integrated":[28],"to":[29],"decouple":[30],"the":[31],"motions":[32,44],"of":[33],"translation":[34],"rotation":[36],"from":[37],"each":[38],"other.":[39],"As":[40],"result,":[42],"zero":[47],"radius":[48],"turning":[49],"(ZRT)":[50],"lateral":[52],"parking":[53],"(LP)":[54],"realized":[56],"for":[57],"better":[58],"steerability":[60],"mobility":[62],"limited":[64],"space.":[65]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
