{"id":"https://openalex.org/W1989246520","doi":"https://doi.org/10.1163/016918611x607374","title":"On Climbing Winding Stairs in an Open Mode for a New Robotic Wheelchair","display_name":"On Climbing Winding Stairs in an Open Mode for a New Robotic Wheelchair","publication_year":2012,"publication_date":"2012-01-01","ids":{"openalex":"https://openalex.org/W1989246520","doi":"https://doi.org/10.1163/016918611x607374","mag":"1989246520"},"language":"en","primary_location":{"id":"doi:10.1163/016918611x607374","is_oa":false,"landing_page_url":"https://doi.org/10.1163/016918611x607374","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced 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/A5045280691","display_name":"Chun-Ta Chen","orcid":"https://orcid.org/0000-0002-6462-9321"},"institutions":[{"id":"https://openalex.org/I134161618","display_name":"National Taiwan Normal University","ror":"https://ror.org/059dkdx38","country_code":"TW","type":"education","lineage":["https://openalex.org/I134161618"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Chun-Ta Chen","raw_affiliation_strings":["a    Department of Mechatronic Technology, National Taiwan Normal University, 162 He-ping East Road, Section 1, Taipei, Taiwan 10610, ROC;, Email: chenct@ntnu.edu.tw","Department of Mechatronic Technology, National Taiwan Normal University, 162 He-ping East Road, Section 1, Taipei, Taiwan 10610, ROC;, Email: chenct@ntnu.edu.tw"],"affiliations":[{"raw_affiliation_string":"a    Department of Mechatronic Technology, National Taiwan Normal University, 162 He-ping East Road, Section 1, Taipei, Taiwan 10610, ROC;, Email: chenct@ntnu.edu.tw","institution_ids":["https://openalex.org/I134161618"]},{"raw_affiliation_string":"Department of Mechatronic Technology, National Taiwan Normal University, 162 He-ping East Road, Section 1, Taipei, Taiwan 10610, ROC;, Email: chenct@ntnu.edu.tw","institution_ids":["https://openalex.org/I134161618"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072119711","display_name":"Hoang\u2010Vuong Pham","orcid":"https://orcid.org/0009-0001-6045-6689"},"institutions":[{"id":"https://openalex.org/I130510345","display_name":"Dayeh University","ror":"https://ror.org/03c6e8r26","country_code":"TW","type":"education","lineage":["https://openalex.org/I130510345"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Hoang-Vuong Pham","raw_affiliation_strings":["b    Department of Mechanical and Automation Engineering, Da Yeh University, 112 Shan Jiau Road, Da Tsuen, Changhwa, Taiwan 51591, ROC","Department of Mechanical and Automation Engineering, Da Yeh University, 112 Shan Jiau Road, Da Tsuen, Changhwa, Taiwan 51591, ROC"],"affiliations":[{"raw_affiliation_string":"b    Department of Mechanical and Automation Engineering, Da Yeh University, 112 Shan Jiau Road, Da Tsuen, Changhwa, Taiwan 51591, ROC","institution_ids":["https://openalex.org/I130510345"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, Da Yeh University, 112 Shan Jiau Road, Da Tsuen, Changhwa, Taiwan 51591, ROC","institution_ids":["https://openalex.org/I130510345"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5045280691"],"corresponding_institution_ids":["https://openalex.org/I134161618"],"apc_list":null,"apc_paid":null,"fwci":0.8068,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.71889533,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"26","issue":"1-2","first_page":"63","last_page":"82"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9980999827384949,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9980000257492065,"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/stairs","display_name":"Stairs","score":0.9608630537986755},{"id":"https://openalex.org/keywords/wheelchair","display_name":"Wheelchair","score":0.8852067589759827},{"id":"https://openalex.org/keywords/stair-climbing","display_name":"Stair climbing","score":0.6712744235992432},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.6617345809936523},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5262293815612793},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5031308531761169},{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.48077744245529175},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4759528338909149},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41061410307884216},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1638793647289276},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1444684863090515},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.09631356596946716}],"concepts":[{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.9608630537986755},{"id":"https://openalex.org/C2781042323","wikidata":"https://www.wikidata.org/wiki/Q191931","display_name":"Wheelchair","level":2,"score":0.8852067589759827},{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.6712744235992432},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.6617345809936523},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5262293815612793},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5031308531761169},{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.48077744245529175},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4759528338909149},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41061410307884216},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1638793647289276},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1444684863090515},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.09631356596946716},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/016918611x607374","is_oa":false,"landing_page_url":"https://doi.org/10.1163/016918611x607374","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320310281","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666"},{"id":"https://openalex.org/F4320321040","display_name":"National Science Council","ror":"https://ror.org/02kv4zf79"},{"id":"https://openalex.org/F4320323837","display_name":"National Taiwan Normal University","ror":"https://ror.org/059dkdx38"},{"id":"https://openalex.org/F4320323900","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95"},{"id":"https://openalex.org/F4320324663","display_name":"National Cheng Kung University","ror":"https://ror.org/01b8kcc49"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1549086189","https://openalex.org/W1578483761","https://openalex.org/W1791756957","https://openalex.org/W1969042659","https://openalex.org/W1973901518","https://openalex.org/W1974488491","https://openalex.org/W1982288243","https://openalex.org/W2029638104","https://openalex.org/W2033720059","https://openalex.org/W2050462380","https://openalex.org/W2061756858","https://openalex.org/W2065071278","https://openalex.org/W2065161814","https://openalex.org/W2087499337","https://openalex.org/W2088261536","https://openalex.org/W2104442470","https://openalex.org/W2122996075","https://openalex.org/W2136688908","https://openalex.org/W2136713012","https://openalex.org/W2138011855","https://openalex.org/W2141129988","https://openalex.org/W2150967805","https://openalex.org/W2325344106","https://openalex.org/W2825897207","https://openalex.org/W2978236862","https://openalex.org/W4210274491","https://openalex.org/W4290342369"],"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/W2628003308","https://openalex.org/W2047426691","https://openalex.org/W2975358643"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,45,55,65,68,78,98,115,119,129,137,140],"mechanical":[4],"design,":[5],"locomotion":[6],"and":[7,50,81,131],"associated":[8],"dynamic":[9,69,149],"models":[10,70,85],"of":[11,30,39,57,118,128,139],"a":[12,28,40,90,95,148],"new":[13],"robotic":[14,23,46,99,120],"wheelchair":[15,24,47,100,121],"on":[16,36,64,122],"climbing":[17,58,72,123],"winding":[18,59,73,124,145],"stairs.":[19,125],"The":[20,126],"prototype":[21,141],"stair-climbing":[22],"is":[25,61,101,112],"constructed":[26],"comprising":[27],"pair":[29],"rotational":[31],"multi-limbed":[32],"structures":[33],"pivotally":[34],"mounted":[35],"opposite":[37],"sides":[38],"support":[41],"base":[42],"so":[43],"that":[44,97,135],"can":[48],"ascend":[49],"descend":[51],"stairs;":[52],"in":[53,93,103,147],"particular,":[54],"capability":[56],"stairs":[60,74,146],"addressed.":[62],"Based":[63],"skid-steering":[66],"analysis,":[67],"for":[71,77,114],"are":[75,86,133],"developed":[76],"trajectory":[79],"planning":[80],"motion":[82,117],"analyses.":[83],"These":[84],"required":[87],"to":[88],"ensure":[89],"passenger's":[91],"safety":[92],"such":[94],"way":[96],"operated":[102],"an":[104,108],"open":[105],"mode.":[106],"Moreover,":[107],"equivalent":[109],"constraint":[110],"method":[111],"proposed":[113],"prescribed":[116],"results":[127],"simulation":[130],"maneuver":[132],"reported":[134],"show":[136],"behavior":[138],"as":[142],"it":[143],"climbs":[144],"turning.":[150]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
