{"id":"https://openalex.org/W2787051828","doi":"https://doi.org/10.1109/sii.2017.8279209","title":"Investigation of tip-over condition for tracked vehicles climbing over an obstacle on a slope","display_name":"Investigation of tip-over condition for tracked vehicles climbing over an obstacle on a slope","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2787051828","doi":"https://doi.org/10.1109/sii.2017.8279209","mag":"2787051828"},"language":"en","primary_location":{"id":"doi:10.1109/sii.2017.8279209","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2017.8279209","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/SICE International Symposium on System Integration (SII)","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/A5077210047","display_name":"Ryosuke Yajima","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Ryosuke Yajima","raw_affiliation_strings":["School of Engineering, Tohoku University, Miyagi-ken, Japan"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Tohoku University, Miyagi-ken, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050838590","display_name":"Keiji Nagatani","orcid":"https://orcid.org/0000-0003-2147-2712"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keiji Nagatani","raw_affiliation_strings":["New Industry Creation Hatchery Center, Tohoku University, Miyagi-ken, Japan"],"affiliations":[{"raw_affiliation_string":"New Industry Creation Hatchery Center, Tohoku University, Miyagi-ken, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5077210047"],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":0.182,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.59761596,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"182","last_page":"187"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9968000054359436,"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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.991100013256073,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/obstacle","display_name":"Obstacle","score":0.8856033086776733},{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.8827286958694458},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8487924337387085},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.8258723020553589},{"id":"https://openalex.org/keywords/rubble","display_name":"Rubble","score":0.7471837997436523},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5620157122612},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5539676547050476},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.42632395029067993},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4089759588241577},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.40706130862236023},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.3596593141555786},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.35950973629951477},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.34693509340286255},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2959171533584595},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28538113832473755},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23901769518852234},{"id":"https://openalex.org/keywords/geotechnical-engineering","display_name":"Geotechnical engineering","score":0.171855628490448},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.15693816542625427},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.15191608667373657}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.8856033086776733},{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.8827286958694458},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8487924337387085},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.8258723020553589},{"id":"https://openalex.org/C2777929537","wikidata":"https://www.wikidata.org/wiki/Q1225329","display_name":"Rubble","level":2,"score":0.7471837997436523},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5620157122612},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5539676547050476},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.42632395029067993},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4089759588241577},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.40706130862236023},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3596593141555786},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35950973629951477},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.34693509340286255},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2959171533584595},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28538113832473755},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23901769518852234},{"id":"https://openalex.org/C187320778","wikidata":"https://www.wikidata.org/wiki/Q1349130","display_name":"Geotechnical engineering","level":1,"score":0.171855628490448},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.15693816542625427},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.15191608667373657},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii.2017.8279209","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2017.8279209","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1969882717","https://openalex.org/W1979426194","https://openalex.org/W2027162577","https://openalex.org/W2101655082","https://openalex.org/W2106022757","https://openalex.org/W2131555988","https://openalex.org/W2136622542","https://openalex.org/W2324378478","https://openalex.org/W2520431450","https://openalex.org/W2576893159","https://openalex.org/W6680427615"],"related_works":["https://openalex.org/W2531085753","https://openalex.org/W2128642449","https://openalex.org/W2047906244","https://openalex.org/W2930076404","https://openalex.org/W2917514722","https://openalex.org/W2001201651","https://openalex.org/W336507151","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2055421853"],"abstract_inverted_index":{"Unmanned":[0],"investigation":[1,31],"of":[2,14,27,30,35,96],"disaster":[3],"sites":[4],"using":[5],"robots":[6],"has":[7],"become":[8],"indispensable":[9],"in":[10,25,76],"avoiding":[11],"the":[12,52,109],"risk":[13],"secondary":[15],"disasters":[16],"or":[17,32,83],"those":[18,122],"associated":[19],"with":[20,90],"restricted":[21],"areas.":[22],"In":[23,106],"fact,":[24],"cases":[26,73],"extended":[28],"periods":[29],"detailed":[33],"exploration":[34],"critical":[36],"sites,":[37],"tracked":[38,49],"vehicles":[39],"have":[40],"proved":[41],"to":[42,60,100,114,125],"be":[43,56],"quite":[44],"useful.":[45],"However,":[46],"as":[47,67,86],"a":[48,115],"vehicle":[50,80],"traverses":[51],"terrain,":[53],"it":[54,59,87],"may":[55],"necessary":[57],"for":[58],"climb":[61],"and":[62,70,120,128],"negotiate":[63],"unfixed":[64,129],"obstacles":[65,127,130],"such":[66],"loose":[68,91],"rocks":[69],"rubble.":[71],"Such":[72],"could":[74,81],"result":[75],"serious":[77],"problems.":[78],"The":[79,93],"tip-over":[82,111],"slide":[84],"down":[85],"rolls":[88],"along":[89],"obstacles.":[92],"primary":[94],"purpose":[95],"this":[97,107],"research":[98],"is":[99],"understand":[101],"how":[102],"these":[103],"problems":[104],"develop.":[105],"paper,":[108],"geometric":[110],"conditions":[112,123],"relative":[113],"basic":[116],"obstacle":[117],"were":[118],"derived,":[119],"whether":[121],"apply":[124],"fixed":[126],"was":[131],"investigated":[132],"through":[133],"an":[134],"experiment.":[135]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}