{"id":"https://openalex.org/W4390099771","doi":"https://doi.org/10.1109/robio58561.2023.10354942","title":"SWhegPro3: A Three-Impeller Wheel-Leg Transformable Robot with Variable Robust Adaptability to Stair Dimensions","display_name":"SWhegPro3: A Three-Impeller Wheel-Leg Transformable Robot with Variable Robust Adaptability to Stair Dimensions","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4390099771","doi":"https://doi.org/10.1109/robio58561.2023.10354942"},"language":"en","primary_location":{"id":"doi:10.1109/robio58561.2023.10354942","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio58561.2023.10354942","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 Robotics and Biomimetics (ROBIO)","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/A5100324821","display_name":"Haoran Wang","orcid":"https://orcid.org/0000-0002-1630-4813"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haoran Wang","raw_affiliation_strings":["Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, SUSTech, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, SUSTech, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100440540","display_name":"Siyuan Wang","orcid":"https://orcid.org/0000-0001-7174-9754"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siyuan Wang","raw_affiliation_strings":["Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, SUSTech, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, SUSTech, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076011938","display_name":"Cunxi Dai","orcid":"https://orcid.org/0009-0008-1466-3522"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cunxi Dai","raw_affiliation_strings":["Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075727192","display_name":"Zhenzhong Jia","orcid":"https://orcid.org/0000-0001-5924-5502"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenzhong Jia","raw_affiliation_strings":["Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, SUSTech, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, SUSTech, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100324821"],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":0.1125,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.4326421,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9944000244140625,"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":0.9937999844551086,"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/impeller","display_name":"Impeller","score":0.8004046678543091},{"id":"https://openalex.org/keywords/stair-climbing","display_name":"Stair climbing","score":0.6744164228439331},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.6240731477737427},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5262096524238586},{"id":"https://openalex.org/keywords/stairs","display_name":"Stairs","score":0.5055363178253174},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.487076073884964},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.45357760787010193},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4388638734817505},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.4163901209831238},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.4066714346408844},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3227660655975342},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.23069560527801514},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1766911745071411},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.14372533559799194}],"concepts":[{"id":"https://openalex.org/C153005164","wikidata":"https://www.wikidata.org/wiki/Q1698700","display_name":"Impeller","level":2,"score":0.8004046678543091},{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.6744164228439331},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.6240731477737427},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5262096524238586},{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.5055363178253174},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.487076073884964},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.45357760787010193},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4388638734817505},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.4163901209831238},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.4066714346408844},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3227660655975342},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.23069560527801514},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1766911745071411},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.14372533559799194},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","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/robio58561.2023.10354942","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio58561.2023.10354942","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 Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1529076775","https://openalex.org/W1822001265","https://openalex.org/W1997396193","https://openalex.org/W2146709755","https://openalex.org/W2343298214","https://openalex.org/W2618496359","https://openalex.org/W2809120964","https://openalex.org/W2967978114","https://openalex.org/W2991187993","https://openalex.org/W4317384005"],"related_works":["https://openalex.org/W2082442769","https://openalex.org/W2097798748","https://openalex.org/W2178596988","https://openalex.org/W2029973929","https://openalex.org/W2045255587","https://openalex.org/W3120644063","https://openalex.org/W2323112089","https://openalex.org/W2952802393","https://openalex.org/W4385234613","https://openalex.org/W2047426691"],"abstract_inverted_index":{"This":[0],"paper":[1],"reports":[2],"the":[3,25,39,60,70,74,78,82],"design":[4,21,105],"innovation":[5],"and":[6,64,77,98,106],"implementation":[7],"of":[8,73,81],"a":[9,19,66],"novel":[10],"wheel-leg":[11,75],"transformable":[12],"robot":[13,17,42],"named":[14],"SWhegPro3.":[15],"The":[16],"uses":[18,43],"three-impeller":[20],"to":[22,37,68,87,90,101],"significantly":[23],"improve":[24],"overall":[26],"stair-climbing":[27],"performance.":[28],"Unlike":[29],"other":[30],"impeller-based":[31],"designs":[32],"that":[33],"use":[34],"gear":[35],"sets":[36],"unfold":[38],"impellers,":[40],"this":[41],"self-locking":[44],"electric":[45],"push":[46,83],"rods":[47],"for":[48],"mode":[49],"switching,":[50],"thereby":[51],"greatly":[52],"improving":[53],"its":[54],"load":[55],"capacity.":[56],"We":[57,94],"also":[58],"analyze":[59],"stair":[61],"climbing":[62],"operation":[63],"derive":[65],"model":[67],"calculate":[69],"optimal":[71],"configuration":[72],"module":[76],"corresponding":[79],"displacement":[80],"rod,":[84],"in":[85],"order":[86],"better":[88],"adapt":[89],"different":[91],"sized":[92],"stairs.":[93],"conduct":[95],"both":[96],"simulation":[97],"field":[99],"experiments":[100],"validate":[102],"our":[103],"proposed":[104],"control":[107],"strategy.":[108]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-25T23:11:45.687758","created_date":"2025-10-10T00:00:00"}