{"id":"https://openalex.org/W2166380040","doi":"https://doi.org/10.1109/robot.2005.1570638","title":"Vibration-based Terrain Analysis for Mobile Robots","display_name":"Vibration-based Terrain Analysis for Mobile Robots","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2166380040","doi":"https://doi.org/10.1109/robot.2005.1570638","mag":"2166380040"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570638","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570638","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","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/A5081802677","display_name":"Christopher Brooks","orcid":"https://orcid.org/0000-0003-0875-0204"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"C. Brooks","raw_affiliation_strings":["Field and Space Robotics Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Field and Space Robotics Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052432097","display_name":"Karl Iagnemma","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K. Iagnemma","raw_affiliation_strings":["Field and Space Robotics Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Field and Space Robotics Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084745304","display_name":"Steven Dubowsky","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Dubowsky","raw_affiliation_strings":["Field and Space Robotics Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Field and Space Robotics Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5081802677"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":29.4972,"has_fulltext":false,"cited_by_count":75,"citation_normalized_percentile":{"value":0.998468,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3415","last_page":"3420"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9972000122070312,"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"}},"topics":[{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9972000122070312,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9860000014305115,"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/T10615","display_name":"Granular flow and fluidized beds","score":0.9757999777793884,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/terrain","display_name":"Terrain","score":0.8779528737068176},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.6356598734855652},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.630423903465271},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6293820142745972},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.6045616865158081},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5469973683357239},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5443586111068726},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4620570242404938},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4141589105129242},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.3907584846019745},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.20555070042610168},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0956358015537262},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.06924834847450256}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8779528737068176},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.6356598734855652},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.630423903465271},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6293820142745972},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.6045616865158081},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5469973683357239},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5443586111068726},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4620570242404938},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4141589105129242},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3907584846019745},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.20555070042610168},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0956358015537262},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.06924834847450256},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2005.1570638","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570638","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.525.9952","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.525.9952","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://robots.mit.edu/people/Karl/ICRA_Vibration_05.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.5199999809265137},{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.5}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332375","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W232876404","https://openalex.org/W1534801299","https://openalex.org/W1540596182","https://openalex.org/W1544911484","https://openalex.org/W1550337986","https://openalex.org/W1583173390","https://openalex.org/W1601656708","https://openalex.org/W1774871844","https://openalex.org/W1933985328","https://openalex.org/W2001619934","https://openalex.org/W2072400776","https://openalex.org/W2099098276","https://openalex.org/W2106822551","https://openalex.org/W2127447330","https://openalex.org/W2129476886","https://openalex.org/W2137548895","https://openalex.org/W2148694408","https://openalex.org/W2167903261","https://openalex.org/W2171913220","https://openalex.org/W2324830312","https://openalex.org/W2408196097","https://openalex.org/W2490800645","https://openalex.org/W2798404144","https://openalex.org/W2982948606","https://openalex.org/W4254524024","https://openalex.org/W4285719527","https://openalex.org/W4292023222","https://openalex.org/W6631878158","https://openalex.org/W6632267817","https://openalex.org/W6632708352","https://openalex.org/W6632977021","https://openalex.org/W6634790458","https://openalex.org/W6769624823"],"related_works":["https://openalex.org/W2171408034","https://openalex.org/W3003320923","https://openalex.org/W2106140982","https://openalex.org/W2883256816","https://openalex.org/W2152313554","https://openalex.org/W3092582874","https://openalex.org/W2065450024","https://openalex.org/W2278962595","https://openalex.org/W1509300825","https://openalex.org/W2132444301"],"abstract_inverted_index":{"Safe,":[0],"autonomous":[1],"mobility":[2],"in":[3,43],"rough":[4],"terrain":[5,17,38,84],"is":[6,19,64,78,94],"an":[7,56,71],"important":[8],"requirement":[9],"for":[10,80],"planetary":[11],"exploration":[12],"rovers.":[13],"Knowledge":[14],"of":[15,83],"local":[16],"properties":[18],"critical":[20],"to":[21,36],"ensure":[22],"a":[23,34,98],"rover\u2019s":[24],"safety":[25],"on":[26,40,58,97],"slopes":[27],"and":[28],"uneven":[29],"surfaces.":[30],"This":[31,92],"paper":[32],"presents":[33],"method":[35],"classify":[37],"based":[39],"vibrations":[41],"induced":[42],"the":[44,59],"rover":[45,60],"structure":[46],"by":[47],"wheel-terrain":[48],"interaction":[49],"during":[50,70],"driving.":[51],"Vibrations":[52],"are":[53],"measured":[54],"using":[55,66],"accelerometer":[57],"structure.":[61],"The":[62],"classifier":[63],"trained":[65],"labeled":[67],"vibration":[68],"data":[69],"off-line":[72],"learning":[73],"phase.":[74],"Linear":[75],"discriminant":[76],"analysis":[77],"used":[79],"on-line":[81],"identification":[82],"classes":[85],"such":[86],"as":[87],"sand,":[88],"gravel,":[89],"or":[90],"clay.":[91],"approach":[93],"experimentally":[95],"validated":[96],"laboratory":[99],"testbed.":[100]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
