{"id":"https://openalex.org/W1595578376","doi":"https://doi.org/10.1109/robot.2003.1241647","title":"The dynamic modeling and analysis for an omnidirectional mobile robot with three caster wheels","display_name":"The dynamic modeling and analysis for an omnidirectional mobile robot with three caster wheels","publication_year":2004,"publication_date":"2004-03-02","ids":{"openalex":"https://openalex.org/W1595578376","doi":"https://doi.org/10.1109/robot.2003.1241647","mag":"1595578376"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1241647","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241647","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","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/A5114007833","display_name":"Jae Heon Chung","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jae Heon Chung","raw_affiliation_strings":["School of Electrical Engineering and Computer Scienc, Hanyang University, Ansan, Gyeonggi, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Scienc, Hanyang University, Ansan, Gyeonggi, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035372501","display_name":"Byung\u2010Ju Yi","orcid":"https://orcid.org/0000-0002-0855-2569"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byung-Ju Yi","raw_affiliation_strings":["School of Electrical Engineering and Computer Scienc, Hanyang University, Ansan, Gyeonggi, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Scienc, Hanyang University, Ansan, Gyeonggi, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111955449","display_name":"Whee Kuk Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Whee Kuk Kim","raw_affiliation_strings":["Department of Control and Instrumentation Engineering, Korea University, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Control and Instrumentation Engineering, Korea University, South Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023123074","display_name":"Ho\u2010Gil Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hogil Lee","raw_affiliation_strings":["Korea Institute of Industrial and Technology, South Korea"],"affiliations":[{"raw_affiliation_string":"Korea Institute of Industrial and Technology, South Korea","institution_ids":["https://openalex.org/I89004649"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5114007833"],"corresponding_institution_ids":["https://openalex.org/I4575257"],"apc_list":null,"apc_paid":null,"fwci":16.5155,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":{"value":0.99052721,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"1","issue":null,"first_page":"521","last_page":"527"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":1.0,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9969000220298767,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9950000047683716,"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/mobile-robot","display_name":"Mobile robot","score":0.716742992401123},{"id":"https://openalex.org/keywords/caster","display_name":"Caster","score":0.6157222986221313},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5897212028503418},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.5594679713249207},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.5327416062355042},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5297223925590515},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.48542889952659607},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4758952856063843},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4233872592449188},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.4125812351703644},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3558037281036377},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26243388652801514},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22342076897621155},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22273018956184387},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18696141242980957},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09144261479377747},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07832345366477966}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.716742992401123},{"id":"https://openalex.org/C59361812","wikidata":"https://www.wikidata.org/wiki/Q1534874","display_name":"Caster","level":2,"score":0.6157222986221313},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5897212028503418},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.5594679713249207},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.5327416062355042},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5297223925590515},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.48542889952659607},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4758952856063843},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4233872592449188},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.4125812351703644},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3558037281036377},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26243388652801514},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22342076897621155},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22273018956184387},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18696141242980957},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09144261479377747},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07832345366477966},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2003.1241647","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241647","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","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":8,"referenced_works":["https://openalex.org/W2036571287","https://openalex.org/W2055406233","https://openalex.org/W2102642497","https://openalex.org/W2106222828","https://openalex.org/W2126281154","https://openalex.org/W2149012351","https://openalex.org/W2163577910","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W4241731252","https://openalex.org/W2665844835","https://openalex.org/W2047372571","https://openalex.org/W2383085052","https://openalex.org/W2079363458","https://openalex.org/W3138687871","https://openalex.org/W2321026875","https://openalex.org/W3142133240","https://openalex.org/W4241255038","https://openalex.org/W2377731214"],"abstract_inverted_index":{"Recently":[0],"quite":[1],"a":[2],"few":[3],"applications":[4],"of":[5,24,40,67,81,95,128,146,151],"an":[6,82],"omnidirectional":[7,83],"mobile":[8,42,84,97],"robot":[9,43,85,98],"have":[10],"been":[11],"reported.":[12],"However,":[13],"understanding":[14],"some":[15],"fundamental":[16],"issues":[17,26],"still":[18],"remains":[19],"as":[20,121],"further":[21],"study.":[22],"One":[23],"the":[25,28,37,41,57,64,68,74,91,96,100,126,129,138,143],"is":[27,103,110,133,154],"exact":[29,76,92,139],"dynamic":[30,77,93,117,131,140],"model.":[31,141],"Previous":[32],"studies":[33],"very":[34],"often":[35],"ignore":[36],"wheel":[38,101],"dynamics":[39,102,148],"and":[44,79,115],"suffer":[45],"from":[46],"algorithmic":[47],"singularity.":[48],"Thus,":[49],"actuator":[50],"sizing":[51],"or":[52],"control":[53,65],"algorithms":[54],"based":[55],"on":[56],"incomplete":[58,130],"plant":[59],"model":[60,94,132],"does":[61],"not":[62],"guarantee":[63],"performance":[66],"system.":[69],"This":[70],"paper":[71],"deals":[72],"with":[73,86,137],"singularity-free,":[75],"modeling":[78],"analysis":[80],"three":[87],"caster":[88],"wheels.":[89],"Initially,":[90],"including":[99],"introduced.":[104,112],"A":[105],"natural":[106],"orthogonal":[107],"complement":[108],"approach":[109],"also":[111,155],"The":[113],"joint-space":[114],"operational-space":[116],"models":[118],"are":[119],"derived":[120],"analytical":[122],"forms.":[123],"Through":[124],"simulation,":[125],"discrepancy":[127],"shown":[134],"by":[135],"comparison":[136],"Furthermore,":[142],"useful":[144],"aspect":[145],"operational":[147],"in":[149],"terms":[150],"impact":[152],"geometry":[153],"discussed.":[156]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2014,"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"}