{"id":"https://openalex.org/W2050595094","doi":"https://doi.org/10.1109/robio.2011.6181725","title":"Track tension optimization for stair-climbing of a wheelchair robot with Variable Geometry Single Tracked Mechanism","display_name":"Track tension optimization for stair-climbing of a wheelchair robot with Variable Geometry Single Tracked Mechanism","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2050595094","doi":"https://doi.org/10.1109/robio.2011.6181725","mag":"2050595094"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181725","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181725","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 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/A5113609149","display_name":"Suyang Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Suyang Yu","raw_affiliation_strings":["Graduate School of Chinese Academy of Sciences, Beijing, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Graduate School of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112109933","display_name":"Ting Wang","orcid":"https://orcid.org/0000-0001-9553-5232"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ting Wang","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100756469","display_name":"Zhidong Wang","orcid":"https://orcid.org/0000-0002-2107-2009"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I8488066","display_name":"Chiba Institute of Technology","ror":"https://ror.org/00qwnam72","country_code":"JP","type":"education","lineage":["https://openalex.org/I8488066"]},{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN","JP"],"is_corresponding":false,"raw_author_name":"Zhidong Wang","raw_affiliation_strings":["Department of Advanced Robotics, Chiba Institute of Technology, Chiba, Japan","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Chiba Institute of Technology, Chiba, Japan","institution_ids":["https://openalex.org/I8488066"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102943351","display_name":"Yuechao Wang","orcid":"https://orcid.org/0009-0004-5846-6396"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuechao Wang","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100637083","display_name":"Xiaofan Li","orcid":"https://orcid.org/0000-0002-7956-4823"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaofan Li","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5113609149"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"],"apc_list":null,"apc_paid":null,"fwci":0.4197,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.65116054,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2774","last_page":"2779"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9973000288009644,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9973000288009644,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9965999722480774,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9879999756813049,"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/robot","display_name":"Robot","score":0.7224943041801453},{"id":"https://openalex.org/keywords/wheelchair","display_name":"Wheelchair","score":0.7050603032112122},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.6280795335769653},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6112444400787354},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6091302633285522},{"id":"https://openalex.org/keywords/stair-climbing","display_name":"Stair climbing","score":0.5913218259811401},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.535329282283783},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5238885283470154},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.507869303226471},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.475801557302475},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4600614607334137},{"id":"https://openalex.org/keywords/tension","display_name":"Tension (geology)","score":0.4478081166744232},{"id":"https://openalex.org/keywords/bang-bang-robot","display_name":"Bang-bang robot","score":0.44203120470046997},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40092939138412476},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30620867013931274},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.11531421542167664},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10710054636001587},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0690544843673706}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7224943041801453},{"id":"https://openalex.org/C2781042323","wikidata":"https://www.wikidata.org/wiki/Q191931","display_name":"Wheelchair","level":2,"score":0.7050603032112122},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.6280795335769653},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6112444400787354},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6091302633285522},{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.5913218259811401},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.535329282283783},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5238885283470154},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.507869303226471},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.475801557302475},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4600614607334137},{"id":"https://openalex.org/C186068551","wikidata":"https://www.wikidata.org/wiki/Q13255585","display_name":"Tension (geology)","level":3,"score":0.4478081166744232},{"id":"https://openalex.org/C584957","wikidata":"https://www.wikidata.org/wiki/Q4854909","display_name":"Bang-bang robot","level":5,"score":0.44203120470046997},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40092939138412476},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30620867013931274},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.11531421542167664},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10710054636001587},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0690544843673706},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2011.6181725","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181725","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"},{"id":"https://openalex.org/F4320326907","display_name":"State Key Laboratory of Robotics","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1976777760","https://openalex.org/W2023114997","https://openalex.org/W2037931051","https://openalex.org/W2133592319","https://openalex.org/W2171673086","https://openalex.org/W6680233431","https://openalex.org/W6685448047"],"related_works":["https://openalex.org/W2029973929","https://openalex.org/W2323112089","https://openalex.org/W2324058214","https://openalex.org/W3109128554","https://openalex.org/W4312590534","https://openalex.org/W1659056307","https://openalex.org/W4205407652","https://openalex.org/W4377138153","https://openalex.org/W2102843533","https://openalex.org/W2047426691"],"abstract_inverted_index":{"This":[0,8],"paper":[1],"introduces":[2],"an":[3],"originally":[4],"designed":[5],"wheelchair":[6,67,85],"robot.":[7,107],"robot":[9,28,46,50,121],"is":[10,58,76,94,111],"equipped":[11],"with":[12,70],"a":[13],"novel":[14],"type":[15],"of":[16,44,64,73,83,90,105,119,125],"Variable":[17],"Geometry":[18],"Single":[19],"Tracked":[20],"Mechanism":[21],"(VGSTM)":[22],"that":[23],"can":[24],"actively":[25],"control":[26],"the":[27,31,40,45,49,53,62,71,77,84,87,91,98,102,106,109,114,120,137],"shape":[29,51],"and":[30,101,113],"track":[32,56,92,116,131],"tension.":[33],"So":[34],"it":[35],"becomes":[36],"possible":[37],"to":[38,61],"improve":[39],"obstacle":[41,80],"clearing":[42,81],"capability":[43],"by":[47],"adapting":[48],"for":[52,122],"obstacle.":[54],"The":[55],"tension":[57,93,117,132],"closely":[59],"related":[60],"performance":[63,82],"this":[65],"original":[66],"robot,":[68,86],"so":[69],"aim":[72],"stair-climbing,":[74],"which":[75],"most":[78],"fundamental":[79],"optimization":[88],"model":[89,100,104],"established":[95],"based":[96],"on":[97],"geometric":[99],"static":[103],"Then":[108],"simulation":[110],"performed,":[112],"optimal":[115],"values":[118,133],"different":[123],"phases":[124],"stair-climbing":[126],"are":[127,134],"obtained.":[128],"Finally,":[129],"these":[130],"verified":[135],"through":[136],"experiment.":[138]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}