{"id":"https://openalex.org/W4407403120","doi":"https://doi.org/10.1109/sii59315.2025.10871057","title":"Wheel Arrangement of a Rocker-bogie Mechanism with Omni-directional Wheels for Reduced DOF Design","display_name":"Wheel Arrangement of a Rocker-bogie Mechanism with Omni-directional Wheels for Reduced DOF Design","publication_year":2025,"publication_date":"2025-01-21","ids":{"openalex":"https://openalex.org/W4407403120","doi":"https://doi.org/10.1109/sii59315.2025.10871057"},"language":"en","primary_location":{"id":"doi:10.1109/sii59315.2025.10871057","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii59315.2025.10871057","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5116241503","display_name":"Yusuke Tokudome","orcid":null},"institutions":[{"id":"https://openalex.org/I1314466530","display_name":"Tokai University","ror":"https://ror.org/01p7qe739","country_code":"JP","type":"education","lineage":["https://openalex.org/I1314466530"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yusuke Tokudome","raw_affiliation_strings":["Tokai University,Course of Electrical and Electronic Engineering,Kanagawa,Japan,259-1292"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokai University,Course of Electrical and Electronic Engineering,Kanagawa,Japan,259-1292","institution_ids":["https://openalex.org/I1314466530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100543919","display_name":"Yuya Yamamoto","orcid":null},"institutions":[{"id":"https://openalex.org/I1314466530","display_name":"Tokai University","ror":"https://ror.org/01p7qe739","country_code":"JP","type":"education","lineage":["https://openalex.org/I1314466530"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuya Yamamoto","raw_affiliation_strings":["Tokai University,Course of Electrical and Electronic Engineering,Kanagawa,Japan,259-1292"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokai University,Course of Electrical and Electronic Engineering,Kanagawa,Japan,259-1292","institution_ids":["https://openalex.org/I1314466530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101464611","display_name":"Yuta Watanabe","orcid":"https://orcid.org/0009-0007-8698-8900"},"institutions":[{"id":"https://openalex.org/I1314466530","display_name":"Tokai University","ror":"https://ror.org/01p7qe739","country_code":"JP","type":"education","lineage":["https://openalex.org/I1314466530"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuta Watanabe","raw_affiliation_strings":["Tokai University,Course of Electrical and Electronic Engineering,Kanagawa,Japan,259-1292"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokai University,Course of Electrical and Electronic Engineering,Kanagawa,Japan,259-1292","institution_ids":["https://openalex.org/I1314466530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093530967","display_name":"Chinvudh Uahchinkul","orcid":null},"institutions":[{"id":"https://openalex.org/I1314466530","display_name":"Tokai University","ror":"https://ror.org/01p7qe739","country_code":"JP","type":"education","lineage":["https://openalex.org/I1314466530"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Chinvudh Uahchinkul","raw_affiliation_strings":["Tokai University,Course of Science and Technology,Kanagawa,Japan,259-1292"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokai University,Course of Science and Technology,Kanagawa,Japan,259-1292","institution_ids":["https://openalex.org/I1314466530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108217144","display_name":"Satoshi Muramatsu","orcid":null},"institutions":[{"id":"https://openalex.org/I1314466530","display_name":"Tokai University","ror":"https://ror.org/01p7qe739","country_code":"JP","type":"education","lineage":["https://openalex.org/I1314466530"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Muramatsu","raw_affiliation_strings":["Tokai University,Department of Applied Computer Engineering,Kanagawa,Japan,259-1292"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokai University,Department of Applied Computer Engineering,Kanagawa,Japan,259-1292","institution_ids":["https://openalex.org/I1314466530"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004213474","display_name":"Katsuhiko Inagaki","orcid":"https://orcid.org/0000-0001-6840-5643"},"institutions":[{"id":"https://openalex.org/I1314466530","display_name":"Tokai University","ror":"https://ror.org/01p7qe739","country_code":"JP","type":"education","lineage":["https://openalex.org/I1314466530"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Katsuhiko Inagaki","raw_affiliation_strings":["Tokai University,Department of Applied Computer Engineering,Kanagawa,Japan,259-1292"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokai University,Department of Applied Computer Engineering,Kanagawa,Japan,259-1292","institution_ids":["https://openalex.org/I1314466530"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1314466530"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02033926,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"497","last_page":"502"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9693999886512756,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9693999886512756,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T14156","display_name":"Engineering Applied Research","score":0.9553999900817871,"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/T11138","display_name":"Tribology and Lubrication Engineering","score":0.9434999823570251,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/bogie","display_name":"Bogie","score":0.953848123550415},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7990713119506836},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.5931007266044617},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42873552441596985},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4009985625743866},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3289387822151184},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2634221315383911}],"concepts":[{"id":"https://openalex.org/C123045823","wikidata":"https://www.wikidata.org/wiki/Q217421","display_name":"Bogie","level":2,"score":0.953848123550415},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7990713119506836},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.5931007266044617},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42873552441596985},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4009985625743866},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3289387822151184},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2634221315383911},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii59315.2025.10871057","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii59315.2025.10871057","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.699999988079071,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1636862237","https://openalex.org/W1940708055","https://openalex.org/W2085578998","https://openalex.org/W2090537995","https://openalex.org/W2120894685","https://openalex.org/W2610230500","https://openalex.org/W2724147631","https://openalex.org/W2767994780","https://openalex.org/W3039737909","https://openalex.org/W3154186858","https://openalex.org/W4285218377"],"related_works":["https://openalex.org/W4213040196","https://openalex.org/W2351761736","https://openalex.org/W3151688715","https://openalex.org/W2382398810","https://openalex.org/W2390799498","https://openalex.org/W2009227830","https://openalex.org/W2386641604","https://openalex.org/W2351837897","https://openalex.org/W2384416889","https://openalex.org/W2358190750"],"abstract_inverted_index":{"Wheeled":[0],"mobile":[1,21],"mechanisms":[2],"are":[3],"essentially":[4],"unsuitable":[5],"for":[6,131],"moving":[7,56],"over":[8,140],"rough":[9],"terrain,":[10],"but":[11],"the":[12,51,75,98,106,119,124],"rocker":[13,99],"bogie":[14,100],"mechanism":[15,22,33,67],"is":[16,79],"known":[17],"as":[18],"a":[19,35,82,88],"six-wheeled":[20],"with":[23],"high":[24],"ground":[25],"adaptability":[26],"that":[27],"solves":[28],"this":[29,32,73],"problem.":[30],"However,":[31],"requires":[34],"large":[36],"number":[37,76],"of":[38,40,53,63,77,84,90,110,145],"degrees":[39],"freedom":[41],"(DOF),":[42],"at":[43],"least":[44],"10":[45],"DOF,":[46],"or":[47],"12":[48],"DOF":[49],"in":[50,61,116],"case":[52],"an":[54,126],"omni-directional":[55,95,111],"function.":[57],"This":[58],"contains":[59],"problems":[60],"terms":[62],"control":[64],"system":[65],"configuration,":[66],"development,":[68],"and":[69,87,133],"energy":[70],"efficiency.":[71],"In":[72],"study,":[74],"DOFs":[78,86,92],"reduced":[80],"to":[81,97,118],"maximum":[83],"6":[85],"minimum":[89],"4":[91],"by":[93],"applying":[94],"wheels":[96,112],"mechanism.":[101],"First,":[102],"we":[103],"examined":[104],"how":[105],"two":[107],"main":[108],"types":[109,144],"should":[113],"be":[114],"arranged":[115],"relation":[117],"six":[120],"wheels.":[121],"Based":[122],"on":[123,142],"results,":[125],"actual":[127],"machine":[128],"was":[129,136],"developed":[130],"evaluation,":[132],"its":[134],"effectiveness":[135],"confirmed":[137],"through":[138],"step":[139],"experiment":[141],"several":[143],"stairs.":[146]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}