{"id":"https://openalex.org/W2742708175","doi":"https://doi.org/10.1109/urai.2017.7992837","title":"Omni-directional power-assist-modular(PAM) mobile robot for total nursing service system","display_name":"Omni-directional power-assist-modular(PAM) mobile robot for total nursing service system","publication_year":2017,"publication_date":"2017-06-01","ids":{"openalex":"https://openalex.org/W2742708175","doi":"https://doi.org/10.1109/urai.2017.7992837","mag":"2742708175"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2017.7992837","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2017.7992837","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","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/A5054860734","display_name":"Gang-Tae Bae","orcid":null},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Gang-Tae Bae","raw_affiliation_strings":["Robotics and Media Institute, Korea Institute of Science and Technology, Seoul, 02792, Korea"],"affiliations":[{"raw_affiliation_string":"Robotics and Media Institute, Korea Institute of Science and Technology, Seoul, 02792, Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077343494","display_name":"Seung-Won Kim","orcid":"https://orcid.org/0000-0003-3190-9172"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seung-Won Kim","raw_affiliation_strings":["Robotics and Media Institute, Korea Institute of Science and Technology, Seoul, 02792, Korea"],"affiliations":[{"raw_affiliation_string":"Robotics and Media Institute, Korea Institute of Science and Technology, Seoul, 02792, Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112380069","display_name":"Dongeun Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dongeun Choi","raw_affiliation_strings":["Robotics and Media Institute, Korea Institute of Science and Technology, Seoul, 02792, Korea"],"affiliations":[{"raw_affiliation_string":"Robotics and Media Institute, Korea Institute of Science and Technology, Seoul, 02792, Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074361220","display_name":"Changhyun Cho","orcid":"https://orcid.org/0000-0002-9879-1749"},"institutions":[{"id":"https://openalex.org/I152238500","display_name":"Chosun University","ror":"https://ror.org/01zt9a375","country_code":"KR","type":"education","lineage":["https://openalex.org/I152238500"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Changhyun Cho","raw_affiliation_strings":["Department of Control and Instrumentation Engineering, Chosun University, Gwangju, 61452, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Control and Instrumentation Engineering, Chosun University, Gwangju, 61452, Korea","institution_ids":["https://openalex.org/I152238500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005474645","display_name":"Woo-Sub Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Woo-Sub Lee","raw_affiliation_strings":["Robotics and Media Institute, Korea Institute of Science and Technology, Seoul, 02792, Korea"],"affiliations":[{"raw_affiliation_string":"Robotics and Media Institute, Korea Institute of Science and Technology, Seoul, 02792, Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090053037","display_name":"Sungchul Kang","orcid":"https://orcid.org/0000-0001-5645-2020"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sung-Chul Kang","raw_affiliation_strings":["Robotics and Media Institute, Korea Institute of Science and Technology, Seoul, 02792, Korea"],"affiliations":[{"raw_affiliation_string":"Robotics and Media Institute, Korea Institute of Science and Technology, Seoul, 02792, Korea","institution_ids":["https://openalex.org/I58716616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5054860734"],"corresponding_institution_ids":["https://openalex.org/I58716616"],"apc_list":null,"apc_paid":null,"fwci":1.0058,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.77441363,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"832","last_page":"834"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9994999766349792,"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/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T13382","display_name":"Robotics and Automated Systems","score":0.9878000020980835,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7668242454528809},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.6138807535171509},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6069316864013672},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5685189962387085},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5316950082778931},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4944791793823242},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4671252369880676},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.4549337327480316},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.43124499917030334},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4272496998310089},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38264843821525574},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33400285243988037},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3219594657421112},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3215232491493225},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.24855664372444153},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13168194890022278},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08597055077552795}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7668242454528809},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.6138807535171509},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6069316864013672},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5685189962387085},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5316950082778931},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4944791793823242},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4671252369880676},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.4549337327480316},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.43124499917030334},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4272496998310089},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38264843821525574},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33400285243988037},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3219594657421112},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3215232491493225},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.24855664372444153},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13168194890022278},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08597055077552795},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2017.7992837","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2017.7992837","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W1991722338","https://openalex.org/W2002282487","https://openalex.org/W2073924944","https://openalex.org/W2119616217","https://openalex.org/W2168108948"],"related_works":["https://openalex.org/W2056060483","https://openalex.org/W2943251607","https://openalex.org/W2055233249","https://openalex.org/W2156868854","https://openalex.org/W4244593870","https://openalex.org/W2131454054","https://openalex.org/W2109445039","https://openalex.org/W2801643600","https://openalex.org/W4385059443","https://openalex.org/W4383611656"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"an":[3],"omni-directional":[4],"power-assist-modular(PAM)":[5],"mobile":[6,30],"robot":[7],"for":[8,25],"total":[9],"nursing":[10],"service":[11],"system.":[12],"We":[13],"focus":[14],"on":[15,56],"verifying":[16],"a":[17,67,77,84,89],"kinematic":[18,36,58],"model":[19,37],"of":[20,41,92],"dual-offset":[21,62],"active":[22,63],"wheel":[23,64],"casters":[24,65],"PAM.":[26,75],"To":[27],"control":[28],"holonomic":[29],"robotics":[31],"system,":[32],"we":[33,60],"approached":[34],"the":[35,39,52,57,93],"in":[38],"aspect":[40],"coordinate":[42],"transformation,":[43],"and":[44,48,71],"obtained":[45],"driving":[46],"velocity":[47,50],"steering":[49],"from":[51],"Cartesian":[53],"coordinate.":[54],"Based":[55],"model,":[59],"designed":[61],"with":[66],"differential":[68],"gear":[69],"mechanism":[70],"applied":[72],"them":[73],"into":[74],"As":[76],"result,":[78],"PAM":[79],"can":[80],"move":[81],"easily":[82],"at":[83],"confined":[85],"area":[86],"such":[87],"as":[88],"patient's":[90],"room":[91],"hospital.":[94]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"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"}