{"id":"https://openalex.org/W4293117607","doi":"https://doi.org/10.1109/robio54168.2021.9739481","title":"A Novel Modular Wheel-legged Mobile Robot with High Mobility","display_name":"A Novel Modular Wheel-legged Mobile Robot with High Mobility","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4293117607","doi":"https://doi.org/10.1109/robio54168.2021.9739481"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739481","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739481","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5101704597","display_name":"Qiang Fu","orcid":"https://orcid.org/0000-0001-7441-2452"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Fu","raw_affiliation_strings":["Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL), the School of Electromechanical Engineering,Guangzhou,China","Biomimetic and Intelligent Robotics Lab (BIRL), the School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL), the School of Electromechanical Engineering,Guangzhou,China","institution_ids":["https://openalex.org/I139024713"]},{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab (BIRL), the School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013471002","display_name":"Yisheng Guan","orcid":"https://orcid.org/0000-0002-7011-0331"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yisheng Guan","raw_affiliation_strings":["Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL), the School of Electromechanical Engineering,Guangzhou,China","Biomimetic and Intelligent Robotics Lab (BIRL), the School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL), the School of Electromechanical Engineering,Guangzhou,China","institution_ids":["https://openalex.org/I139024713"]},{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab (BIRL), the School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083392356","display_name":"Shanwei Liu","orcid":"https://orcid.org/0000-0002-5049-9394"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shanwei Liu","raw_affiliation_strings":["Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL), the School of Electromechanical Engineering,Guangzhou,China","Biomimetic and Intelligent Robotics Lab (BIRL), the School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL), the School of Electromechanical Engineering,Guangzhou,China","institution_ids":["https://openalex.org/I139024713"]},{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab (BIRL), the School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047105106","display_name":"Haifei Zhu","orcid":"https://orcid.org/0000-0002-2463-4564"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haifei Zhu","raw_affiliation_strings":["Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL), the School of Electromechanical Engineering,Guangzhou,China","Biomimetic and Intelligent Robotics Lab (BIRL), the School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL), the School of Electromechanical Engineering,Guangzhou,China","institution_ids":["https://openalex.org/I139024713"]},{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab (BIRL), the School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I139024713"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"577","last_page":"582"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"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":0.998199999332428,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9764000177383423,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7454709410667419},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7437447905540466},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.720318078994751},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5706180334091187},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5633268356323242},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5161348581314087},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.49825048446655273},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4967985451221466},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4365423023700714},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4287848174571991},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37419870495796204},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.34187039732933044},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25609731674194336},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.11211881041526794},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.05654558539390564}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7454709410667419},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7437447905540466},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.720318078994751},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5706180334091187},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5633268356323242},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5161348581314087},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.49825048446655273},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4967985451221466},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4365423023700714},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4287848174571991},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37419870495796204},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.34187039732933044},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25609731674194336},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.11211881041526794},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.05654558539390564},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/robio54168.2021.9739481","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739481","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5600000023841858}],"awards":[],"funders":[{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2132444301","https://openalex.org/W87601075","https://openalex.org/W1886477626","https://openalex.org/W1541472850","https://openalex.org/W4317826762","https://openalex.org/W218732962","https://openalex.org/W1540467731","https://openalex.org/W1979383880","https://openalex.org/W2538037439","https://openalex.org/W2741909783"],"abstract_inverted_index":{"High":[0],"maneuverability":[1],"of":[2,57,92,131,141,150,161,176,188],"mobile":[3,26,58,164],"robots":[4],"means":[5,33],"their":[6],"excellent":[7],"ability":[8],"to":[9,11,37,72],"adapt":[10],"various":[12],"terrains.":[13],"Rolling":[14],"and":[15,40,42,52,77,100,154,173,186],"walking":[16,41],"are":[17],"the":[18,88,98,105,120,132,139,142,146,151,155,162,167,177,182,184,189],"two":[19,101,106,112],"common":[20],"locomotion":[21,29,125,169],"modes":[22,30],"in":[23,31,55,79,97,145,181],"currently":[24],"existing":[25],"robots.":[27,59],"Multiple":[28],"general":[32],"better":[34],"mobility.":[35],"How":[36],"integrate":[38],"rolling":[39],"easily":[43],"switch":[44],"between":[45],"them":[46],"has":[47,111],"been":[48],"being":[49],"an":[50],"interesting":[51],"challenging":[53],"topic":[54],"development":[56],"In":[60],"this":[61],"paper,":[62,183],"a":[63,93],"novel":[64],"wheel-legged":[65],"robot,":[66],"which":[67],"is":[68,82,179,192],"called":[69],"Mobot-H,":[70],"able":[71],"roll":[73],"on":[74],"diverse":[75],"terrains":[76],"walk":[78],"biped":[80],"mode":[81],"proposed.":[83],"Designed":[84],"by":[85,119,138,195],"modular":[86],"method,":[87],"proposed":[89,190],"robot":[90,133,165,178,191],"consists":[91],"few":[94],"joint":[95,143],"modules":[96,103,144],"middle":[99],"wheel-footed":[102,109],"at":[104],"ends.":[107],"Each":[108],"module":[110],"wheels,":[113],"whose":[114],"orientation":[115,157],"can":[116,134],"be":[117,136],"changed":[118,137],"conversion":[121],"mechanism":[122],"for":[123],"different":[124],"modes.":[126,170],"The":[127,148,171],"shape":[128],"or":[129],"configuration":[130],"also":[135],"motion":[140],"middle.":[147],"flexibility":[149],"main":[152],"body":[153],"wheel":[156],"enable":[158],"high":[159],"mobility":[160,187],"presented":[163,180],"with":[166],"hybrid":[168],"design":[172],"basic":[174],"analysis":[175],"effectiveness":[185],"preliminarily":[193],"verified":[194],"experiments.":[196]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
