{"id":"https://openalex.org/W2095745804","doi":"https://doi.org/10.1109/robot.2004.1302524","title":"Stuck evasion control for active-wheel passive-joint snake-like mobile robot 'genbu'","display_name":"Stuck evasion control for active-wheel passive-joint snake-like mobile robot 'genbu'","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2095745804","doi":"https://doi.org/10.1109/robot.2004.1302524","mag":"2095745804"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1302524","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1302524","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","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/A5023136626","display_name":"Hitoshi Kimura","orcid":"https://orcid.org/0000-0001-7085-427X"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"H. Kimura","raw_affiliation_strings":["Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013245506","display_name":"Shinichi Hirose","orcid":"https://orcid.org/0000-0001-6796-3790"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Hirose","raw_affiliation_strings":["Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081903266","display_name":"Keisuke Shimizu","orcid":"https://orcid.org/0000-0002-3021-2915"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Shimizu","raw_affiliation_strings":["Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5023136626"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":0.8584,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.74675086,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"2","issue":null,"first_page":"5087","last_page":"5092"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"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":0.9994000196456909,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.9006993770599365},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7874848246574402},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7794756293296814},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6120433807373047},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5153710246086121},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.47889605164527893},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.46715182065963745},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44973623752593994},{"id":"https://openalex.org/keywords/evasion","display_name":"Evasion (ethics)","score":0.4308200180530548},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.36885005235671997},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3268160820007324},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.19867199659347534},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.123188316822052}],"concepts":[{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.9006993770599365},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7874848246574402},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7794756293296814},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6120433807373047},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5153710246086121},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.47889605164527893},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.46715182065963745},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44973623752593994},{"id":"https://openalex.org/C2781251061","wikidata":"https://www.wikidata.org/wiki/Q5416089","display_name":"Evasion (ethics)","level":3,"score":0.4308200180530548},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.36885005235671997},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3268160820007324},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.19867199659347534},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.123188316822052},{"id":"https://openalex.org/C8891405","wikidata":"https://www.wikidata.org/wiki/Q1059","display_name":"Immune system","level":2,"score":0.0},{"id":"https://openalex.org/C203014093","wikidata":"https://www.wikidata.org/wiki/Q101929","display_name":"Immunology","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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2004.1302524","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1302524","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","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":19,"referenced_works":["https://openalex.org/W1493441771","https://openalex.org/W1625247920","https://openalex.org/W1628288941","https://openalex.org/W1772493338","https://openalex.org/W1844425230","https://openalex.org/W1931803841","https://openalex.org/W1943877163","https://openalex.org/W2038483892","https://openalex.org/W2097030166","https://openalex.org/W2120826647","https://openalex.org/W2133834164","https://openalex.org/W2134753324","https://openalex.org/W2140516362","https://openalex.org/W2159559414","https://openalex.org/W2169503252","https://openalex.org/W2323410750","https://openalex.org/W2513951880","https://openalex.org/W6638875361","https://openalex.org/W6640540123"],"related_works":["https://openalex.org/W1495548623","https://openalex.org/W4285553133","https://openalex.org/W4205169999","https://openalex.org/W2009505450","https://openalex.org/W2910570437","https://openalex.org/W2483415178","https://openalex.org/W2614603712","https://openalex.org/W2072651286","https://openalex.org/W2113164274","https://openalex.org/W2132444301"],"abstract_inverted_index":{"The":[0],"snake-like":[1],"robots":[2,25,33,38,67],"of":[3,10,49,86,108],"the":[4,58,84,87],"'Genbu'":[5],"series":[6],"(Genbu":[7],"1,2,3)":[8],"consist":[9],"multiple":[11],"modules,":[12],"equipped":[13],"with":[14,110],"active":[15],"wheels,":[16],"connected":[17],"to":[18,57,119],"each":[19],"other":[20],"by":[21],"passive":[22,59],"joints.":[23,60],"These":[24,61],"are":[26,62,113],"categorized":[27],"as":[28,53],"Active-Wheel":[29],"Passive-Joint":[30],"articulated":[31],"mobile":[32],"(AW-PJ":[34],"type).":[35],"AW-PJ":[36],"type":[37],"have":[39],"high-speed":[40],"mobility":[41],"and":[42,98,115],"high-durability":[43],"on":[44],"rough":[45],"terrain":[46],"in":[47,74,117],"spite":[48],"several":[50],"problems,":[51],"such":[52],"stuck":[54,95,99],"condition,":[55],"due":[56],"good":[63],"proper-ties":[64],"for":[65],"fire-fighting":[66],"or":[68],"planetary":[69],"rovers.":[70],"Genbu":[71,111],"3,":[72],"developed":[73],"this":[75],"study,":[76],"could":[77],"climb":[78],"a":[79],"280mm":[80],"vertical":[81],"wall":[82],"whereas":[83],"diameter":[85],"wheel":[88],"is":[89,104],"250mm.":[90],"This":[91],"paper":[92],"de-scribes":[93],"automatic":[94],"detection":[96],"algorithm":[97],"avoidance":[100],"methods.":[101,122],"Para-skid":[102],"steering":[103],"also":[105],"described.":[106],"Results":[107],"experiments":[109],"3":[112],"presented":[114],"discussed":[116],"order":[118],"verify":[120],"these":[121]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
