{"id":"https://openalex.org/W2126946496","doi":"https://doi.org/10.1109/robot.1985.1087227","title":"Kinematics and open-loop control of an ilonator-based mobile platform","display_name":"Kinematics and open-loop control of an ilonator-based mobile platform","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W2126946496","doi":"https://doi.org/10.1109/robot.1985.1087227","mag":"2126946496"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1985.1087227","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1985.1087227","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1985 IEEE International Conference on Robotics and Automation","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/A5060458934","display_name":"David O. Daniel","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D. Daniel","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Carnegie-Mellon University, Pittsburgh, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Carnegie-Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026562535","display_name":"Bruce H. Krogh","orcid":"https://orcid.org/0000-0003-1300-3553"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"B. Krogh","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Carnegie-Mellon University, Pittsburgh, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Carnegie-Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076757931","display_name":"Mark B. Friedman","orcid":"https://orcid.org/0000-0001-7602-1922"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Friedman","raw_affiliation_strings":["Robotics Institute, Carnegie-Mellon University, Pittsburgh, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie-Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.2404,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.49166218,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"346","last_page":"351"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9531000256538391,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9510999917984009,"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/kinematics","display_name":"Kinematics","score":0.8069159388542175},{"id":"https://openalex.org/keywords/open-loop-controller","display_name":"Open-loop controller","score":0.6516175270080566},{"id":"https://openalex.org/keywords/wheelchair","display_name":"Wheelchair","score":0.6125317215919495},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5742042660713196},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5509468913078308},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5435497760772705},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5343030691146851},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.45534002780914307},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4544258117675781},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4522056579589844},{"id":"https://openalex.org/keywords/motor-control","display_name":"Motor control","score":0.4196927845478058},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3682723641395569},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3210301995277405},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24964389204978943},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.18143337965011597},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14643460512161255},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.07542482018470764},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.06794220209121704}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8069159388542175},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.6516175270080566},{"id":"https://openalex.org/C2781042323","wikidata":"https://www.wikidata.org/wiki/Q191931","display_name":"Wheelchair","level":2,"score":0.6125317215919495},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5742042660713196},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5509468913078308},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5435497760772705},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5343030691146851},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.45534002780914307},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4544258117675781},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4522056579589844},{"id":"https://openalex.org/C137813230","wikidata":"https://www.wikidata.org/wiki/Q2996165","display_name":"Motor control","level":2,"score":0.4196927845478058},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3682723641395569},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3210301995277405},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24964389204978943},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.18143337965011597},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14643460512161255},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.07542482018470764},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.06794220209121704},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/robot.1985.1087227","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1985.1087227","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1985 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":3,"referenced_works":["https://openalex.org/W1021419762","https://openalex.org/W1544909964","https://openalex.org/W1639227073"],"related_works":["https://openalex.org/W4378364071","https://openalex.org/W2399287283","https://openalex.org/W1998563140","https://openalex.org/W2742303892","https://openalex.org/W2724219770","https://openalex.org/W2065035327","https://openalex.org/W2718635042","https://openalex.org/W2374383877","https://openalex.org/W2376893479","https://openalex.org/W2381297671"],"abstract_inverted_index":{"This":[0],"paper":[1,88],"describes":[2],"the":[3,20,46,52,82,93,106,109,115],"analysis":[4],"and":[5,57,97,117],"implementation":[6,110],"of":[7,45,51,92,102,111,114],"a":[8,58,90],"motor":[9],"drive":[10,81],"control":[11,113],"system":[12],"for":[13,108],"an":[14],"intelligent":[15],"wheelchair":[16],"being":[17],"developed":[18,62],"at":[19,23],"Robotics":[21],"Institute":[22],"Carnegie-Mellon":[24],"University.":[25],"The":[26,49,87,100],"experimental":[27,98],"mobile":[28],"platform":[29,53,73,83],"is":[30],"mounted":[31],"on":[32],"four":[33],"so-called":[34],"Ilonators":[35],"which":[36],"permit":[37],"motion":[38],"in":[39],"any":[40],"direction":[41],"without":[42],"conventional":[43],"steering":[44],"wheel":[47,66],"axes.":[48],"kinematics":[50],"were":[54,78],"determined":[55],"analytically":[56],"simulation":[59],"program":[60],"was":[61],"to":[63,70,80],"generate":[64],"reference":[65,76],"velocity":[67],"trajectories":[68,77],"corresponding":[69],"several":[71],"basic":[72],"trajectories.":[74],"These":[75],"used":[79],"under":[84],"open-loop":[85],"control.":[86,120],"includes":[89],"description":[91],"motor-drive":[94],"hardware":[95],"implementation,":[96],"results.":[99],"results":[101],"this":[103],"work":[104],"provide":[105],"foundation":[107],"feedback":[112],"wheels":[116],"higher-level":[118],"supervisory":[119]},"counts_by_year":[{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
