{"id":"https://openalex.org/W4387682182","doi":"https://doi.org/10.1109/tie.2023.3319739","title":"MOBINN: Stair-Climbing Mobile Robot With Novel Flexible Wheels","display_name":"MOBINN: Stair-Climbing Mobile Robot With Novel Flexible Wheels","publication_year":2023,"publication_date":"2023-10-16","ids":{"openalex":"https://openalex.org/W4387682182","doi":"https://doi.org/10.1109/tie.2023.3319739"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2023.3319739","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3319739","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5060364434","display_name":"Geono Kim","orcid":"https://orcid.org/0000-0002-9445-2221"},"institutions":[{"id":"https://openalex.org/I110273157","display_name":"Kookmin University","ror":"https://ror.org/0049erg63","country_code":"KR","type":"education","lineage":["https://openalex.org/I110273157"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Geono Kim","raw_affiliation_strings":["Mechanical Engineering Department, University of Kookmin, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-9445-2221","affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Kookmin, Seoul, South Korea","institution_ids":["https://openalex.org/I110273157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050915748","display_name":"Hoon Chung","orcid":null},"institutions":[{"id":"https://openalex.org/I49946491","display_name":"Hyundai Motors (South Korea)","ror":"https://ror.org/016kvft77","country_code":"KR","type":"company","lineage":["https://openalex.org/I197312522","https://openalex.org/I49946491"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hoon Chung","raw_affiliation_strings":["Mechanical Engineering Department, Hyundai Motors Research Center, Uiwang, South Korea"],"raw_orcid":"https://orcid.org/0009-0003-0567-9833","affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Hyundai Motors Research Center, Uiwang, South Korea","institution_ids":["https://openalex.org/I49946491"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033709923","display_name":"Baek\u2010Kyu Cho","orcid":null},"institutions":[{"id":"https://openalex.org/I110273157","display_name":"Kookmin University","ror":"https://ror.org/0049erg63","country_code":"KR","type":"education","lineage":["https://openalex.org/I110273157"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Baek-Kyu Cho","raw_affiliation_strings":["Robotics and Control Laboratory, School of Mechanical Engineering, Kookmin University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-5138-580X","affiliations":[{"raw_affiliation_string":"Robotics and Control Laboratory, School of Mechanical Engineering, Kookmin University, Seoul, South Korea","institution_ids":["https://openalex.org/I110273157"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5060364434"],"corresponding_institution_ids":["https://openalex.org/I110273157"],"apc_list":null,"apc_paid":null,"fwci":1.3702,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.79453539,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"71","issue":"8","first_page":"9182","last_page":"9191"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9976999759674072,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9976999759674072,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9930999875068665,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.984499990940094,"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/stair-climbing","display_name":"Stair climbing","score":0.8520814776420593},{"id":"https://openalex.org/keywords/stairs","display_name":"Stairs","score":0.8303552865982056},{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.7889529466629028},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.7365020513534546},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6448180675506592},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5358200669288635},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4587900638580322},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45345354080200195},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.44450944662094116},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.41749805212020874},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4115048348903656},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.33009612560272217},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1481032371520996},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.06076157093048096}],"concepts":[{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.8520814776420593},{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.8303552865982056},{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.7889529466629028},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.7365020513534546},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6448180675506592},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5358200669288635},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4587900638580322},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45345354080200195},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.44450944662094116},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.41749805212020874},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4115048348903656},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.33009612560272217},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1481032371520996},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.06076157093048096},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2023.3319739","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3319739","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/W310309341","https://openalex.org/W1969580614","https://openalex.org/W1999218300","https://openalex.org/W2216666918","https://openalex.org/W2586881791","https://openalex.org/W2591313121","https://openalex.org/W2921572638","https://openalex.org/W2963682116","https://openalex.org/W2991187993","https://openalex.org/W2998148600","https://openalex.org/W3001478067","https://openalex.org/W3003936490","https://openalex.org/W3043795300","https://openalex.org/W3049864493","https://openalex.org/W3152236922","https://openalex.org/W3214016039","https://openalex.org/W4206683474","https://openalex.org/W4289943122","https://openalex.org/W4380881403","https://openalex.org/W6733818105"],"related_works":["https://openalex.org/W2088261536","https://openalex.org/W2332096383","https://openalex.org/W2123208718","https://openalex.org/W3108631018","https://openalex.org/W2551741329","https://openalex.org/W2082442769","https://openalex.org/W2531085753","https://openalex.org/W2781161971","https://openalex.org/W2628003308","https://openalex.org/W2047426691"],"abstract_inverted_index":{"With":[0],"the":[1,8,32,96,99,103,111,139,169,174],"recent":[2],"advancements":[3],"in":[4,13,31,58],"delivery":[5,35,49,85,136],"service":[6,50],"robots,":[7],"necessity":[9],"for":[10,25,84,106,161],"stair":[11,162,180],"climbing":[12,56,82,107,146],"indoor":[14,60],"and":[15,46,61,101,159,177],"outdoor":[16,62],"environments":[17],"has":[18,88],"increased.":[19],"However,":[20,48],"stairs":[21,57,83,100,119],"are":[22],"challenging":[23],"obstacles":[24],"robots":[26,36,51],"to":[27,71,95,110,132,135],"overcome.":[28],"Most":[29],"studies":[30],"field":[33],"of":[34,55,67,81,98,113,125],"have":[37],"focused":[38],"on":[39],"traversing":[40],"even":[41],"terrains,":[42],"such":[43],"as":[44,138],"roads":[45],"aisles.":[47],"should":[52],"be":[53],"capable":[54,80],"both":[59],"environments.":[63],"The":[64,127,148],"main":[65],"purpose":[66],"this":[68],"study":[69,165],"is":[70,79,130],"develop":[72],"MOBINN,":[73],"a":[74,142],"mobile":[75],"balancing":[76],"robot":[77,140],"that":[78,92,168],"services.":[86],"MOBINN":[87,116],"novel":[89,170],"flexible":[90,114,171],"wheels":[91,172],"can":[93,117],"adapt":[94],"shape":[97],"reduce":[102,133],"torque":[104,176],"needed":[105],"them.":[108],"Due":[109],"advantages":[112],"wheels,":[115],"climb":[118],"without":[120],"needing":[121],"an":[122,152],"additional":[123],"degree":[124],"freedom.":[126],"head":[128],"structure":[129],"designed":[131],"damage":[134],"packages":[137],"maintains":[141],"horizontal":[143],"orientation":[144],"when":[145],"stairs.":[147],"design":[149],"also":[150],"includes":[151],"linear":[153],"quadratic":[154],"regulator":[155],"(LQR)-based":[156],"motion":[157],"controller":[158],"observer":[160],"climbing.":[163,181],"This":[164],"experimentally":[166],"verified":[167],"lowered":[173],"required":[175],"enabled":[178],"stable":[179]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4}],"updated_date":"2026-05-14T08:36:36.166977","created_date":"2025-10-10T00:00:00"}
