{"id":"https://openalex.org/W2121985869","doi":"https://doi.org/10.1109/robot.2006.1642323","title":"PAW: a hybrid wheeled-leg robot","display_name":"PAW: a hybrid wheeled-leg robot","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2121985869","doi":"https://doi.org/10.1109/robot.2006.1642323","mag":"2121985869"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1642323","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1642323","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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/A5080724939","display_name":"James Andrew Smith","orcid":"https://orcid.org/0000-0002-8131-0187"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"J.A. Smith","raw_affiliation_strings":["Centre for Intelligent Machines, McGill University, Montreal, QUE, Canada","Centre for Intelligent Machines, McGill Univ., Montreal, Que.#TAB#"],"affiliations":[{"raw_affiliation_string":"Centre for Intelligent Machines, McGill University, Montreal, QUE, Canada","institution_ids":["https://openalex.org/I5023651"]},{"raw_affiliation_string":"Centre for Intelligent Machines, McGill Univ., Montreal, Que.#TAB#","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013539978","display_name":"Inna Sharf","orcid":"https://orcid.org/0000-0001-5027-3646"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"I. Sharf","raw_affiliation_strings":["Centre for Intelligent Machines, McGill University, Montreal, QUE, Canada","Centre for Intelligent Machines, McGill Univ., Montreal, Que.#TAB#"],"affiliations":[{"raw_affiliation_string":"Centre for Intelligent Machines, McGill University, Montreal, QUE, Canada","institution_ids":["https://openalex.org/I5023651"]},{"raw_affiliation_string":"Centre for Intelligent Machines, McGill Univ., Montreal, Que.#TAB#","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108212076","display_name":"Michael Trentini","orcid":null},"institutions":[{"id":"https://openalex.org/I1297460800","display_name":"Defence Research and Development Canada","ror":"https://ror.org/00hgy8d33","country_code":"CA","type":"funder","lineage":["https://openalex.org/I1297460800","https://openalex.org/I1336338359","https://openalex.org/I2802286613"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"M. Trentini","raw_affiliation_strings":["Autonomous Intelligent Systems Section, Defence Research and Development Canada, AB, Canada","[Autonomous Intelligent Systems Section, Defence Research and Development Canada, AB, Canada]"],"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems Section, Defence Research and Development Canada, AB, Canada","institution_ids":["https://openalex.org/I1297460800"]},{"raw_affiliation_string":"[Autonomous Intelligent Systems Section, Defence Research and Development Canada, AB, Canada]","institution_ids":["https://openalex.org/I1297460800"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5080724939"],"corresponding_institution_ids":["https://openalex.org/I5023651"],"apc_list":null,"apc_paid":null,"fwci":1.674,"has_fulltext":false,"cited_by_count":105,"citation_normalized_percentile":{"value":0.84222587,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4043","last_page":"4048"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9868999719619751,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9865000247955322,"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/robot","display_name":"Robot","score":0.6800244450569153},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6597916483879089},{"id":"https://openalex.org/keywords/power-consumption","display_name":"Power consumption","score":0.6191688776016235},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5806903839111328},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.475318968296051},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.46398451924324036},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.46355026960372925},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.42547374963760376},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4246407747268677},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38975271582603455},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3544354736804962},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3265966773033142},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.320492684841156},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2713627517223358},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.05753639340400696}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6800244450569153},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6597916483879089},{"id":"https://openalex.org/C2984118289","wikidata":"https://www.wikidata.org/wiki/Q29954","display_name":"Power consumption","level":3,"score":0.6191688776016235},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5806903839111328},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.475318968296051},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.46398451924324036},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.46355026960372925},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.42547374963760376},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4246407747268677},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38975271582603455},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3544354736804962},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3265966773033142},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.320492684841156},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2713627517223358},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.05753639340400696},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2006.1642323","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1642323","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.8899999856948853,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W69586344","https://openalex.org/W215766046","https://openalex.org/W294030547","https://openalex.org/W1526117436","https://openalex.org/W1569905401","https://openalex.org/W1578483761","https://openalex.org/W1596218917","https://openalex.org/W1651756129","https://openalex.org/W1670969129","https://openalex.org/W1822001265","https://openalex.org/W2029638104","https://openalex.org/W2059370927","https://openalex.org/W2062184028","https://openalex.org/W2077676902","https://openalex.org/W2122414132","https://openalex.org/W2125303974","https://openalex.org/W2136594730","https://openalex.org/W2151392282","https://openalex.org/W2159559414","https://openalex.org/W2161427949","https://openalex.org/W2911059351","https://openalex.org/W3198330646","https://openalex.org/W4210274491","https://openalex.org/W4229634948","https://openalex.org/W4253755764","https://openalex.org/W6759045118","https://openalex.org/W6801189501"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2171912896","https://openalex.org/W4390135167","https://openalex.org/W2067477688","https://openalex.org/W4231453746","https://openalex.org/W4242718759","https://openalex.org/W2762381663","https://openalex.org/W1886477626","https://openalex.org/W4385196987"],"abstract_inverted_index":{"This":[0],"paper":[1],"discusses":[2],"current":[3],"wheeled":[4],"mobility":[5],"work":[6],"on":[7],"a":[8,46],"hybrid":[9,34],"wheeled-leg":[10],"robot":[11,60],"called":[12],"PAW.":[13],"In":[14],"addition":[15],"to":[16],"providing":[17],"design":[18],"details,":[19],"controllers":[20],"are":[21,52],"proposed":[22],"for":[23,45],"inclined":[24],"turning":[25],"and":[26,39],"sprawled":[27],"braking":[28],"which":[29],"take":[30],"advantage":[31],"of":[32,36,48,58],"the":[33,37,56,59],"nature":[35],"platform":[38],"improve":[40],"stability.":[41],"Power":[42],"consumption":[43],"values":[44],"number":[47],"its":[49],"basic":[50],"behaviours":[51],"given,":[53],"as":[54],"is":[55],"range":[57]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":5}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}