{"id":"https://openalex.org/W4415971156","doi":"https://doi.org/10.1109/tro.2025.3629811","title":"A Multimode Motion Polar Robot: Energy-Saving Through Foldable Sail and Transformable Tracks","display_name":"A Multimode Motion Polar Robot: Energy-Saving Through Foldable Sail and Transformable Tracks","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4415971156","doi":"https://doi.org/10.1109/tro.2025.3629811"},"language":null,"primary_location":{"id":"doi:10.1109/tro.2025.3629811","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3629811","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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/A5103284721","display_name":"Yongsheng Luo","orcid":"https://orcid.org/0009-0005-5155-9263"},"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":true,"raw_author_name":"Yongsheng Luo","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"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/A5007986449","display_name":"Zhihua Guo","orcid":"https://orcid.org/0000-0002-6588-3313"},"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":"Zhaokun Guo","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"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/A5104295936","display_name":"Tao Liu","orcid":"https://orcid.org/0000-0002-0239-968X"},"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":"Tao Liu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"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/A5061559714","display_name":"K. Li","orcid":"https://orcid.org/0009-0009-0462-202X"},"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":"Kaixuan Li","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"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/A5068234916","display_name":"Jinnong Liao","orcid":"https://orcid.org/0000-0003-2382-892X"},"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":"Jinnong Liao","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"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/A5008489290","display_name":"Lefan Guo","orcid":"https://orcid.org/0009-0007-7942-5288"},"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":"Lefan Guo","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"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/A5054543629","display_name":"Yanhe Zhu","orcid":"https://orcid.org/0000-0002-1960-6278"},"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":"Yanhe Zhu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"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/A5108047615","display_name":"Gangfeng Liu","orcid":"https://orcid.org/0000-0003-0078-0281"},"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":"Gangfeng Liu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"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":"last","author":{"id":"https://openalex.org/A5069459810","display_name":"Jie Zhao","orcid":"https://orcid.org/0000-0002-6086-9387"},"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":"Jie Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"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":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5103284721"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.41930821,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"41","issue":null,"first_page":"6625","last_page":"6641"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.2612000107765198,"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"}},"topics":[{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.2612000107765198,"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"}},{"id":"https://openalex.org/T11082","display_name":"Spacecraft Dynamics and Control","score":0.09849999845027924,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11604","display_name":"Ship Hydrodynamics and Maneuverability","score":0.0966000035405159,"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/kinematics","display_name":"Kinematics","score":0.6700999736785889},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6434999704360962},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5149000287055969},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48649999499320984},{"id":"https://openalex.org/keywords/polar","display_name":"Polar","score":0.44209998846054077},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.43220001459121704},{"id":"https://openalex.org/keywords/traction","display_name":"Traction (geology)","score":0.42559999227523804},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.42410001158714294}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6700999736785889},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6434999704360962},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5149000287055969},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48649999499320984},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4586000144481659},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4544000029563904},{"id":"https://openalex.org/C29705727","wikidata":"https://www.wikidata.org/wiki/Q294562","display_name":"Polar","level":2,"score":0.44209998846054077},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44209998846054077},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.43220001459121704},{"id":"https://openalex.org/C38834483","wikidata":"https://www.wikidata.org/wiki/Q17000223","display_name":"Traction (geology)","level":2,"score":0.42559999227523804},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.42410001158714294},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.414000004529953},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.39899998903274536},{"id":"https://openalex.org/C101645829","wikidata":"https://www.wikidata.org/wiki/Q1781857","display_name":"Multi-mode optical fiber","level":3,"score":0.38749998807907104},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.3808000087738037},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.35679998993873596},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.34470000863075256},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3424000144004822},{"id":"https://openalex.org/C167947727","wikidata":"https://www.wikidata.org/wiki/Q433478","display_name":"Traction control system","level":2,"score":0.3411000072956085},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30889999866485596},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.3070000112056732},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2874000072479248},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.28450000286102295},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2827000021934509},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.27869999408721924}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3629811","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3629811","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1976625292","https://openalex.org/W1989308938","https://openalex.org/W2019238952","https://openalex.org/W2021310777","https://openalex.org/W2051776175","https://openalex.org/W2054468660","https://openalex.org/W2055824780","https://openalex.org/W2057548434","https://openalex.org/W2074255906","https://openalex.org/W2102805646","https://openalex.org/W2144943890","https://openalex.org/W2149963760","https://openalex.org/W2151845619","https://openalex.org/W2156152381","https://openalex.org/W3037782203","https://openalex.org/W3088293174","https://openalex.org/W3145730194","https://openalex.org/W4387058893","https://openalex.org/W4391868286","https://openalex.org/W4392007351"],"related_works":[],"abstract_inverted_index":{"Existing":[0],"polar":[1,31,77,218],"robots":[2],"are":[3,48,145,150,167],"constrained":[4],"by":[5],"limited":[6],"energy":[7,25,52],"supply,":[8],"making":[9],"it":[10,72],"difficult":[11],"to":[12,35,59,125,169],"carry":[13],"out":[14],"long-term":[15,214],"scientific":[16,215],"exploration":[17,216],"missions,":[18],"which":[19],"highlights":[20],"an":[21,155,187],"urgent":[22],"demand":[23],"for":[24,50,160,212],"conservation.":[26],"An":[27],"energy-efficient":[28],"multi-mode":[29,161,184],"motion":[30,157,162,185,200],"robot":[32,208],"is":[33,57,82,100,138,163],"proposed":[34],"address":[36],"this":[37,207],"challenge.":[38],"Both":[39],"increasing":[40],"external":[41,61],"assistance":[42],"and":[43,91,109,118,143,147],"reducing":[44],"the":[45,65,92,113,116,122,171,195,198],"driving":[46,127],"force":[47],"critical":[49],"lowering":[51],"consumption.":[53],"A":[54],"foldable":[55],"sail":[56,66,80,96],"designed":[58,83],"provide":[60],"assistance.":[62],"When":[63,70],"unfolded,":[64],"generates":[67],"assistive":[68],"force.":[69,128],"folded,":[71],"maintains":[73],"stability":[74,148],"in":[75,183,217],"extreme":[76],"climates.":[78],"The":[79,102,129,140],"shape":[81],"based":[84],"on":[85,98,135,153],"a":[86],"symmetrically":[87],"extended":[88],"NACA0018":[89],"airfoil,":[90],"influence":[93],"of":[94,115,131,174,191,197],"different":[95,179],"parameters":[97],"performance":[99,137],"discussed.":[101],"transformable":[103],"tracks":[104],"realize":[105],"switching":[106],"between":[107],"traction":[108,136],"sliding":[110,123],"modes":[111],"through":[112],"separation":[114],"track":[117],"teeth":[119,132],"chain,":[120],"using":[121],"mode":[124,177],"reduce":[126],"effect":[130],"parameter":[133],"variations":[134],"analyzed.":[139],"system":[141],"kinematics":[142],"dynamics":[144],"model,":[146],"conditions":[149],"determined.":[151],"Based":[152],"this,":[154],"energy-saving":[156,172,189,199,205],"control":[158,201],"framework":[159],"proposed.":[164],"Finally,":[165],"experiments":[166,182],"conducted":[168],"evaluate":[170],"contribution":[173],"each":[175],"independent":[176],"under":[178],"configurations.":[180],"Comprehensive":[181],"demonstrate":[186],"overall":[188],"rate":[190],"approximately":[192],"24%,":[193],"verifying":[194],"effectiveness":[196],"strategy.":[202],"With":[203],"its":[204],"advantages,":[206],"shows":[209],"strong":[210],"potential":[211],"enabling":[213],"regions.":[219]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-11-06T00:00:00"}