{"id":"https://openalex.org/W7131097895","doi":"https://doi.org/10.1109/robio66223.2025.11377803","title":"A Biomimetic 4WS\u20134WD Robotic Platform with Single-Neuron PID Control for Autonomous Field Navigation","display_name":"A Biomimetic 4WS\u20134WD Robotic Platform with Single-Neuron PID Control for Autonomous Field Navigation","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131097895","doi":"https://doi.org/10.1109/robio66223.2025.11377803"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11377803","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377803","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5111042722","display_name":"Lebin Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lebin Liang","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences,Guangdong Provincial Key Lab of Robotics and Intelligent System,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences,Guangdong Provincial Key Lab of Robotics and Intelligent System,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126643722","display_name":"Dewei Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dewei Lu","raw_affiliation_strings":["University of Chinese Academy of Sciences,Beijing,China,100049"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences,Beijing,China,100049","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100407433","display_name":"Dong Li","orcid":"https://orcid.org/0000-0002-3694-1852"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Dong Li","raw_affiliation_strings":["University of Macau,Faculty of Science and Technology,Macao,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Macau,Faculty of Science and Technology,Macao,China","institution_ids":["https://openalex.org/I204512498"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zilong Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zilong Chen","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences,Guangdong Provincial Key Lab of Robotics and Intelligent System,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences,Guangdong Provincial Key Lab of Robotics and Intelligent System,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038676834","display_name":"Shucun Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shucun Liu","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences,Guangdong Provincial Key Lab of Robotics and Intelligent System,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences,Guangdong Provincial Key Lab of Robotics and Intelligent System,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080804560","display_name":"C. Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Can Wang","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences,Guangdong Provincial Key Lab of Robotics and Intelligent System,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences,Guangdong Provincial Key Lab of Robotics and Intelligent System,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5126626789","display_name":"Xinyu Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Wu","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences,Guangdong Provincial Key Lab of Robotics and Intelligent System,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences,Guangdong Provincial Key Lab of Robotics and Intelligent System,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"829","last_page":"835"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.13220000267028809,"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":0.13220000267028809,"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/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.06800000369548798,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.06750000268220901,"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/pid-controller","display_name":"PID controller","score":0.5440000295639038},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.516700029373169},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.47350001335144043},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4341999888420105},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.41929998993873596},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3806000053882599},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.37400001287460327},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.3718000054359436}],"concepts":[{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5703999996185303},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5440000295639038},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.516700029373169},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.47350001335144043},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4657999873161316},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4341999888420105},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4302999973297119},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.41929998993873596},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3806000053882599},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.37400001287460327},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.3718000054359436},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.34450000524520874},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3434999883174896},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.3330000042915344},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.30630001425743103},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.29750001430511475},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2937999963760376},{"id":"https://openalex.org/C190743461","wikidata":"https://www.wikidata.org/wiki/Q211251","display_name":"Shock absorber","level":2,"score":0.29190000891685486},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2888000011444092},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.26809999346733093},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.2680000066757202},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.26249998807907104}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11377803","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377803","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.7872933745384216}],"awards":[{"id":"https://openalex.org/G2934724902","display_name":null,"funder_award_id":"62373344","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4400552008","display_name":null,"funder_award_id":"2024YFB4709900","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1979383880","https://openalex.org/W2087725966","https://openalex.org/W2108511311","https://openalex.org/W2144529612","https://openalex.org/W2146091220","https://openalex.org/W2767017481","https://openalex.org/W2809489825","https://openalex.org/W2854680307","https://openalex.org/W2967195967","https://openalex.org/W2998994296","https://openalex.org/W3033530826","https://openalex.org/W3041735185","https://openalex.org/W3136130522","https://openalex.org/W3158809820","https://openalex.org/W3164951872","https://openalex.org/W3216369076","https://openalex.org/W4206363537","https://openalex.org/W4232029473","https://openalex.org/W4234535513","https://openalex.org/W4297004041","https://openalex.org/W4309455557","https://openalex.org/W4393353460"],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"navigation":[1],"in":[2,98],"unstructured":[3],"agricultural":[4,100],"environments":[5],"is":[6,84],"critical":[7],"for":[8,26,76],"enhancing":[9],"productivity":[10],"and":[11,45,73,88,95,110],"reducing":[12],"labor.":[13],"This":[14],"paper":[15],"presents":[16],"a":[17,33,56],"biomimetic":[18],"4WS\u20134WD":[19],"robotic":[20],"platform":[21,83],"with":[22],"neuron-based":[23],"PID":[24,58],"control":[25],"field":[27,89],"navigation.":[28],"To":[29],"improve":[30],"terrain":[31],"adaptability,":[32],"nonlinear":[34],"elastic":[35],"suspension":[36],"inspired":[37],"by":[38],"kangaroo":[39],"tendon":[40],"mechanics":[41],"enhances":[42],"shock":[43],"absorption":[44],"energy":[46],"efficiency.":[47],"An":[48],"omnidirectional":[49],"kinematic":[50],"model":[51],"ensures":[52],"agile":[53],"motion,":[54],"while":[55],"single-neuron":[57],"controller":[59],"enables":[60],"real-time":[61],"gain":[62],"tuning":[63],"based":[64],"on":[65,80],"error":[66],"dynamics.":[67],"The":[68],"system":[69],"integrates":[70],"GNSS-RTK,":[71],"IMU,":[72],"steering":[74],"encoders":[75],"centimeter-level":[77],"localization.":[78],"Built":[79],"ROS,":[81],"the":[82,116],"validated":[85],"through":[86],"simulations":[87],"tests,":[90],"demonstrating":[91],"robust":[92],"trajectory":[93],"tracking":[94],"reliable":[96],"performance":[97],"diverse":[99],"scenarios.":[101],"All":[102],"open-source":[103],"materials,":[104],"including":[105],"CAD":[106],"drawings,":[107],"circuit":[108],"boards,":[109],"code,":[111],"can":[112],"be":[113],"accessed":[114],"at":[115],"following":[117],"repository:":[118],"https://github.com/LebinLiang/four_ws_wd.":[119]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2026-02-24T00:00:00"}