{"id":"https://openalex.org/W2041111443","doi":"https://doi.org/10.1109/robot.2004.1308793","title":"Trajectory arrangement based on resistance force and shape of pile at scooping motion","display_name":"Trajectory arrangement based on resistance force and shape of pile at scooping motion","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2041111443","doi":"https://doi.org/10.1109/robot.2004.1308793","mag":"2041111443"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1308793","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1308793","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/A5015359930","display_name":"Shigeru Sarata","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"S. Sarata","raw_affiliation_strings":["Intelligence Syst. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Intelligence Syst. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066747862","display_name":"Hisashi OSUMI","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"H. Osumi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060133835","display_name":"Yoshihiro Kawai","orcid":"https://orcid.org/0000-0002-9847-0072"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Y. Kawai","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5057858501","display_name":"Fumitake TOMITA","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"F. Tomita","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5015359930"],"corresponding_institution_ids":["https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":2.6077,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.89610995,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3488","last_page":"3493 Vol.4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12206","display_name":"Vibration and Dynamic Analysis","score":0.9509999752044678,"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/T12206","display_name":"Vibration and Dynamic Analysis","score":0.9509999752044678,"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":0.9175000190734863,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9151999950408936,"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/loader","display_name":"Loader","score":0.8501003980636597},{"id":"https://openalex.org/keywords/pile","display_name":"Pile","score":0.8454434871673584},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7971343994140625},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4557892084121704},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.42992132902145386},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37497374415397644},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3636780381202698},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3410595655441284},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3115532696247101},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.25066226720809937},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.23418352007865906},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1975833773612976},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08535933494567871}],"concepts":[{"id":"https://openalex.org/C2779041774","wikidata":"https://www.wikidata.org/wiki/Q650550","display_name":"Loader","level":2,"score":0.8501003980636597},{"id":"https://openalex.org/C119560385","wikidata":"https://www.wikidata.org/wiki/Q7193850","display_name":"Pile","level":2,"score":0.8454434871673584},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7971343994140625},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4557892084121704},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.42992132902145386},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37497374415397644},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3636780381202698},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3410595655441284},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3115532696247101},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.25066226720809937},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.23418352007865906},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1975833773612976},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08535933494567871},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2004.1308793","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1308793","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":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":1,"referenced_works":["https://openalex.org/W1915211220"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2379815289","https://openalex.org/W3021399744","https://openalex.org/W29052388","https://openalex.org/W1022014438","https://openalex.org/W2989775562","https://openalex.org/W2002316083","https://openalex.org/W2384113270","https://openalex.org/W633232294","https://openalex.org/W54244440"],"abstract_inverted_index":{"As":[0],"a":[1,12],"part":[2],"of":[3,17,36,83,107,118],"research":[4],"on":[5,50,56,103],"autonomous":[6],"loading":[7],"system":[8,100],"by":[9],"wheel":[10,108],"loader,":[11],"method":[13,98],"for":[14,20,47,61,115],"appropriate":[15],"arrangement":[16,64],"bucket":[18,38,52,62],"trajectory":[19,63],"scooping":[21,68],"motion":[22],"will":[23],"be":[24],"proposed.":[25,66],"In":[26,67],"this":[27,57],"paper,":[28],"relation":[29],"between":[30],"resistance":[31,48],"force":[32,49],"and":[33,88,99],"advancing":[34],"direction":[35,43],"the":[37,51,84],"is":[39,44,72,86],"analyzed":[40],"theoretically.":[41],"Advancing":[42],"dominant":[45],"factor":[46],"during":[53],"scooping.":[54,95],"Based":[55],"analysis,":[58],"simple":[59],"rules":[60],"are":[65,101],"procedure,":[69],"scooped":[70],"volume":[71],"estimated":[73],"using":[74],"3D":[75],"model":[76,92,106],"obtained":[77],"with":[78],"stereo-vision":[79],"system.":[80],"The":[81,96,110],"shape":[82],"pile":[85,91],"measured":[87],"converted":[89],"into":[90],"prior":[93],"to":[94],"developed":[97],"installed":[102],"experimental":[104],"scale":[105],"loader.":[109],"results":[111],"show":[112],"good":[113],"performance":[114],"different":[116],"condition":[117],"pile.":[119]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}