{"id":"https://openalex.org/W4226401214","doi":"https://doi.org/10.1109/tro.2022.3160018","title":"High-Fidelity Dynamic Modeling and Simulation of Planetary Rovers Using Single-Input-Multi-Output Joints With Terrain Property Mapping","display_name":"High-Fidelity Dynamic Modeling and Simulation of Planetary Rovers Using Single-Input-Multi-Output Joints With Terrain Property Mapping","publication_year":2022,"publication_date":"2022-04-27","ids":{"openalex":"https://openalex.org/W4226401214","doi":"https://doi.org/10.1109/tro.2022.3160018"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3160018","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3160018","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-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/A5068394600","display_name":"Huaiguang Yang","orcid":"https://orcid.org/0000-0001-6747-0988"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaiguang Yang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012020883","display_name":"Liang Ding","orcid":"https://orcid.org/0000-0002-8351-5178"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Ding","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-8351-5178","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033616367","display_name":"Haibo Gao","orcid":"https://orcid.org/0000-0002-6501-656X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haibo Gao","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-6501-656X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091864119","display_name":"Wang Zheng-yin","orcid":"https://orcid.org/0000-0002-2418-6167"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengyin Wang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-2418-6167","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030160006","display_name":"Qingning Lan","orcid":"https://orcid.org/0000-0002-5615-9315"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingning Lan","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-5615-9315","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044198396","display_name":"Guangjun Liu","orcid":"https://orcid.org/0000-0002-3301-1166"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Guangjun Liu","raw_affiliation_strings":["Department of Aerospace Engineering, Ryerson University, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-3301-1166","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Ryerson University, Toronto, ON, Canada","institution_ids":["https://openalex.org/I530967"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100412039","display_name":"Zhen Liu","orcid":"https://orcid.org/0000-0002-2496-2285"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Liu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-2496-2285","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100400676","display_name":"Weihua Li","orcid":"https://orcid.org/0000-0002-9745-4150"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weihua Li","raw_affiliation_strings":["School of Automotive Engineering, Harbin Institute of Technology (Weihai), Weihai, China"],"raw_orcid":"https://orcid.org/0000-0002-9745-4150","affiliations":[{"raw_affiliation_string":"School of Automotive Engineering, Harbin Institute of Technology (Weihai), Weihai, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100617483","display_name":"Zongquan Deng","orcid":"https://orcid.org/0000-0003-2432-8329"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongquan Deng","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-2432-8329","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.7802,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.90421692,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"38","issue":"5","first_page":"3238","last_page":"3258"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9958000183105469,"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/T12732","display_name":"Agriculture and Farm Safety","score":0.982200026512146,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7204143404960632},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.5780553817749023},{"id":"https://openalex.org/keywords/dynamic-simulation","display_name":"Dynamic simulation","score":0.5071251392364502},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4813731014728546},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4746147692203522},{"id":"https://openalex.org/keywords/contact-dynamics","display_name":"Contact dynamics","score":0.4371487498283386},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.4188990890979767},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.41650712490081787},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40620991587638855},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36330005526542664},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.174667626619339},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.15458664298057556},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13897451758384705}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7204143404960632},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.5780553817749023},{"id":"https://openalex.org/C149808339","wikidata":"https://www.wikidata.org/wiki/Q5319019","display_name":"Dynamic simulation","level":2,"score":0.5071251392364502},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4813731014728546},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4746147692203522},{"id":"https://openalex.org/C2778931886","wikidata":"https://www.wikidata.org/wiki/Q5164827","display_name":"Contact dynamics","level":2,"score":0.4371487498283386},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.4188990890979767},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.41650712490081787},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40620991587638855},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36330005526542664},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.174667626619339},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.15458664298057556},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13897451758384705},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2022.3160018","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3160018","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1983615708","display_name":null,"funder_award_id":"91948202","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3522188891","display_name":null,"funder_award_id":"FRFCU9803500621","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G3663909988","display_name":null,"funder_award_id":"51,822,502","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5197633805","display_name":null,"funder_award_id":"SKLRS202101A03","funder_id":"https://openalex.org/F4320327001","funder_display_name":"State Key Laboratory of Robotics and System"},{"id":"https://openalex.org/G5527028876","display_name":null,"funder_award_id":"52175007","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320327001","display_name":"State Key Laboratory of Robotics and System","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W144333120","https://openalex.org/W173497841","https://openalex.org/W754694670","https://openalex.org/W1496420891","https://openalex.org/W1947158743","https://openalex.org/W1974461875","https://openalex.org/W1987424218","https://openalex.org/W2004302824","https://openalex.org/W2010842411","https://openalex.org/W2012416257","https://openalex.org/W2036985390","https://openalex.org/W2038483892","https://openalex.org/W2052171629","https://openalex.org/W2069635875","https://openalex.org/W2077626072","https://openalex.org/W2084399420","https://openalex.org/W2090340418","https://openalex.org/W2125378948","https://openalex.org/W2127998339","https://openalex.org/W2134967036","https://openalex.org/W2141166446","https://openalex.org/W2170054691","https://openalex.org/W2197422560","https://openalex.org/W2292799737","https://openalex.org/W2293323176","https://openalex.org/W2329753455","https://openalex.org/W2334500309","https://openalex.org/W2391753560","https://openalex.org/W2398741002","https://openalex.org/W2618698010","https://openalex.org/W2808973354","https://openalex.org/W2950928809","https://openalex.org/W2969153273","https://openalex.org/W2971497498","https://openalex.org/W2978198929","https://openalex.org/W2987721550","https://openalex.org/W3004376344","https://openalex.org/W3026639829","https://openalex.org/W3037021533","https://openalex.org/W3178100906","https://openalex.org/W4250604988","https://openalex.org/W4285502049","https://openalex.org/W6600871451","https://openalex.org/W6601046218","https://openalex.org/W6622099224"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W2381912691","https://openalex.org/W2350381577","https://openalex.org/W2353618196","https://openalex.org/W2348074676","https://openalex.org/W2385033175","https://openalex.org/W2374043190","https://openalex.org/W2363298784","https://openalex.org/W2367402697"],"abstract_inverted_index":{"Planetary":[0],"rovers":[1,36],"may":[2],"traverse":[3],"terrains":[4,114],"with":[5,65,112,146,161],"complex":[6],"geometries":[7],"and":[8,18,30,59,81,89,103,115,137,159,164,186],"variable":[9,78],"physical":[10,147,162],"properties,":[11],"but":[12,124],"their":[13],"mobility":[14],"behaviors":[15],"are":[16,62,118,175],"complicated":[17],"difficult":[19,125],"to":[20,41,121,126],"simulate":[21],"precisely.":[22],"This":[23],"article":[24],"focuses":[25],"on":[26,49],"high-fidelity":[27],"dynamic":[28,57],"modeling":[29,131],"simulation":[31,95,150,169,194],"for":[32,133,179,183,188],"a":[33,71,128],"type":[34],"of":[35,67,86,94,110],"that":[37,171],"incorporate":[38],"single-input-multi-output":[39,68],"joints":[40],"enhance":[42],"terrain":[43,79,130],"adaptability,":[44],"which":[45],"has":[46],"been":[47,173],"used":[48],"China's":[50],"Tianwen-1":[51],"Mars":[52],"rover.":[53],"A":[54,149],"novel":[55],"multibody":[56],"model":[58,74,99],"its":[60],"solutions":[61],"derived":[63],"first":[64],"consideration":[66],"joints.":[69],"Then,":[70],"unified":[72],"terramechanics":[73],"is":[75,140,152],"proposed,":[76],"considering":[77],"surfaces":[80],"covering":[82],"rover's":[83],"motion":[84],"states":[85],"skidding,":[87],"slipping,":[88],"steering,":[90],"solved":[91],"the":[92,107,156],"problem":[93],"instability":[96],"caused":[97],"by":[98],"switching":[100],"between":[101],"soft":[102],"hard":[104],"terrains.":[105],"As":[106],"contact":[108,135],"areas":[109],"wheels":[111],"various":[113],"resultant":[116],"sinkage":[117,139],"dominant":[119],"factors":[120],"ensure":[122],"fidelity":[123,193],"determine,":[127],"new":[129],"method":[132],"calculating":[134],"area":[136],"wheel":[138],"developed":[141],"using":[142],"digital":[143],"elevation":[144],"map":[145],"properties.":[148],"system":[151],"developed,":[153],"integrating":[154],"all":[155],"above":[157],"models,":[158],"verified":[160],"experiments":[163],"commercial":[165],"software.":[166],"The":[167],"relative":[168],"errors":[170],"have":[172],"achieved":[174],"less":[176],"than":[177],"5.9%":[178],"bogie":[180],"angles,":[181],"6.1%":[182],"drawbar":[184],"pull,":[185],"3.4%":[187],"slip":[189],"ratios,":[190],"demonstrating":[191],"high":[192],"results.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":3}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}