{"id":"https://openalex.org/W2103609145","doi":"https://doi.org/10.1109/robot.2004.1307541","title":"Development of VmaxCarrier2: omni-directional mobile robot with function of step-climbing","display_name":"Development of VmaxCarrier2: omni-directional mobile robot with function of step-climbing","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2103609145","doi":"https://doi.org/10.1109/robot.2004.1307541","mag":"2103609145"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1307541","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1307541","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/A5016736580","display_name":"Kenjiro Tadakuma","orcid":"https://orcid.org/0000-0003-2035-0617"},"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":"K. Tadakuma","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045036033","display_name":"S. Hirose","orcid":"https://orcid.org/0000-0003-4090-7806"},"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 Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037772320","display_name":"Riichiro Tadakuma","orcid":"https://orcid.org/0000-0002-5676-2376"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"R. Tadakuma","raw_affiliation_strings":["Deparhnent of Advanced Interdisciplinary Studies, University of Tokyo, Bunkyo, Tokyo, Japan","The University of Tokyo"],"affiliations":[{"raw_affiliation_string":"Deparhnent of Advanced Interdisciplinary Studies, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"The University of Tokyo","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5016736580"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":5.2603,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.94723221,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"14","issue":null,"first_page":"3111","last_page":"3118 Vol.3"},"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":0.9998999834060669,"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":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9932000041007996,"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/climb","display_name":"Climb","score":0.8913429379463196},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.8052473068237305},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6411766409873962},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.618553876876831},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.5823221802711487},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.529487669467926},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41922783851623535},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.4143194854259491},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37769442796707153},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3406747579574585},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2866879403591156},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08889847993850708}],"concepts":[{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.8913429379463196},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.8052473068237305},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6411766409873962},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.618553876876831},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.5823221802711487},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.529487669467926},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41922783851623535},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.4143194854259491},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37769442796707153},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3406747579574585},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2866879403591156},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08889847993850708},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2004.1307541","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1307541","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"},{"id":"pmh:oai:t2r2.star.titech.ac.jp:00114296","is_oa":false,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100386422","pdf_url":null,"source":{"id":"https://openalex.org/S4377196385","display_name":"Tokyo Tech Research Repository (Tokyo Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114531698","host_organization_name":"Tokyo Institute of Technology","host_organization_lineage":["https://openalex.org/I114531698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1900988868","https://openalex.org/W2170086538","https://openalex.org/W2575658228","https://openalex.org/W3035604317","https://openalex.org/W3216338608","https://openalex.org/W6779535471"],"related_works":["https://openalex.org/W1495548623","https://openalex.org/W2009505450","https://openalex.org/W4285553133","https://openalex.org/W4205169999","https://openalex.org/W2910570437","https://openalex.org/W2483415178","https://openalex.org/W2531085753","https://openalex.org/W2128642449","https://openalex.org/W2047906244","https://openalex.org/W2687281440"],"abstract_inverted_index":{"\"VmaxCarrier2\"":[0],"is":[1,40],"an":[2,57],"omni-directional":[3,33,58],"mobile":[4,34,59],"robot":[5,60],"with":[6,61],"step-climbing":[7],"capability,":[8],"which":[9],"can":[10],"be":[11,43],"used":[12],"as":[13,51],"a":[14,62,73,78,87],"compact,":[15],"quiet,":[16],"and":[17,23,53,77,89],"durable":[18],"transportation":[19],"vehicle":[20],"in":[21,47],"cluttered":[22],"cramped":[24],"environments.":[25],"We":[26],"have":[27,94],"already":[28],"developed":[29,70],"several":[30],"kinds":[31],"of":[32,101],"robots":[35],"for":[36],"situations":[37],"where":[38],"it":[39],"desirable":[41],"to":[42,45,66],"able":[44],"move":[46],"all":[48],"directions,":[49],"such":[50],"\"VUTON\"":[52],"\"VmaxCarrier\".":[54],"To":[55],"construct":[56],"greatly":[63],"improved":[64,97],"capability":[65,100],"climb":[67],"steps,":[68],"we":[69,93],"the":[71,96],"Omni-Disc2,":[72],"bent":[74],"pneumatic":[75,79],"actuator,":[76],"system.":[80],"These":[81],"novel":[82],"components":[83],"were":[84],"constructed":[85],"into":[86],"prototype,":[88],"through":[90],"evaluation":[91],"experiments":[92],"confirmed":[95],"step":[98],"climbing":[99],"VmaxCarrier2.":[102]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
