{"id":"https://openalex.org/W2041943652","doi":"https://doi.org/10.1163/1568553053020241","title":"Kinematic modeling, mobility analysis and design of wheeled mobile robots","display_name":"Kinematic modeling, mobility analysis and design of wheeled mobile robots","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W2041943652","doi":"https://doi.org/10.1163/1568553053020241","mag":"2041943652"},"language":"en","primary_location":{"id":"doi:10.1163/1568553053020241","is_oa":false,"landing_page_url":"https://doi.org/10.1163/1568553053020241","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/A5103571541","display_name":"K. H. Low","orcid":"https://orcid.org/0009-0005-5828-2690"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"K. H. Low","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5113968070","display_name":"Y.P. Leow","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Y. P. Leow","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5103571541"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.6215,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.97209577,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"19","issue":"1","first_page":"73","last_page":"99"},"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":1.0,"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":1.0,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9969000220298767,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8147120475769043},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.549263596534729},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.5463982820510864},{"id":"https://openalex.org/keywords/isotropy","display_name":"Isotropy","score":0.48562827706336975},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.46450090408325195},{"id":"https://openalex.org/keywords/turning-radius","display_name":"Turning radius","score":0.4308279752731323},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40401870012283325},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3868005573749542},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3064712882041931},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2185291051864624},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1598723828792572},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.07544755935668945}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8147120475769043},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.549263596534729},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.5463982820510864},{"id":"https://openalex.org/C184050105","wikidata":"https://www.wikidata.org/wiki/Q273163","display_name":"Isotropy","level":2,"score":0.48562827706336975},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.46450090408325195},{"id":"https://openalex.org/C205148227","wikidata":"https://www.wikidata.org/wiki/Q2558948","display_name":"Turning radius","level":2,"score":0.4308279752731323},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40401870012283325},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3868005573749542},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3064712882041931},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2185291051864624},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1598723828792572},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.07544755935668945},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum 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/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/1568553053020241","is_oa":false,"landing_page_url":"https://doi.org/10.1163/1568553053020241","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":[{"score":0.6600000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W591463222","https://openalex.org/W634710826","https://openalex.org/W1480621429","https://openalex.org/W1526117436","https://openalex.org/W1538315967","https://openalex.org/W1545748428","https://openalex.org/W1555601014","https://openalex.org/W1630437312","https://openalex.org/W1672960334","https://openalex.org/W1844326508","https://openalex.org/W1964966198","https://openalex.org/W1967042999","https://openalex.org/W1997827081","https://openalex.org/W2036571287","https://openalex.org/W2046387417","https://openalex.org/W2056299328","https://openalex.org/W2071735691","https://openalex.org/W2145391337","https://openalex.org/W2149012351","https://openalex.org/W2156466456","https://openalex.org/W2161587726","https://openalex.org/W2296350715","https://openalex.org/W4252112222","https://openalex.org/W4253805488","https://openalex.org/W4296398509"],"related_works":["https://openalex.org/W2794789911","https://openalex.org/W2379128895","https://openalex.org/W4298134547","https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2122976425","https://openalex.org/W2088773039","https://openalex.org/W2536744725","https://openalex.org/W2167345783","https://openalex.org/W2109445039"],"abstract_inverted_index":{"Wheeled":[0],"mobile":[1],"robots":[2],"(WMRs)":[3],"consist":[4],"of":[5,7,27,30,42,49,96,140,152,168,177,215,228],"interconnections":[6],"many":[8],"electromechanical":[9],"systems.":[10],"Their":[11],"mechanical":[12],"subsystem":[13],"comprises":[14],"primarily":[15],"the":[16,19,24,34,50,77,83,87,90,97,100,130,137,153,175,178,183,207,213,216,220,226],"platform":[17,184],"and":[18,65,89,93,103,185,218],"wheel":[20,131],"units.":[21],"To":[22],"formulate":[23],"kinematic":[25,40,52,84],"model":[26,33,41],"this":[28],"class":[29],"robots,":[31],"we":[32,159],"individual":[35],"subsystems":[36],"separately.":[37],"The":[38,67,166],"composite":[39],"a":[43,47,117,120,125,162],"WMR":[44],"is":[45,74,171,194],"then":[46],"coupling":[48],"various":[51],"submodels.":[53],"We":[54,80],"study":[55,68],"WMRs":[56,109,141,197],"with":[57,110,119,143,180,198],"different":[58],"wheels,":[59,62,92],"i.e.":[60],"offset":[61,104,208],"centered":[63,91,101],"wheels":[64,102,145,179,201,222],"dual-wheels.":[66],"focuses":[69],"on":[70],"system":[71],"mobility,":[72],"which":[73,129],"derived":[75],"using":[76],"functional":[78],"matrix.":[79],"also":[81],"identified":[82],"equivalence":[85],"between":[86],"dual-wheel":[88],"some":[94],"advantages":[95],"dual-wheels":[98],"over":[99],"wheels.":[105],"Results":[106],"suggest":[107],"that":[108,196],"mobility":[111],"less":[112],"than":[113],"3":[114],"cannot":[115],"track":[116],"trajectory":[118],"discontinuous":[121],"heading":[122],"without":[123],"incorporating":[124],"time":[126],"delay,":[127],"during":[128],"orientation":[132],"should":[133],"be":[134,203],"changed.":[135],"Moreover,":[136],"steering":[138],"angles":[139],"equipped":[142],"steered":[144],"require":[146],"proper":[147],"coordination":[148],"to":[149,173,182,190],"avoid":[150],"jamming":[151],"drive":[154],"subsystem.":[155],"For":[156],"design":[157],"purposes,":[158],"aim":[160],"at":[161,225],"kinetostatically":[163],"robust":[164],"WMR.":[165],"concept":[167],"kinetostatic":[169],"isotropy":[170],"applied":[172],"find":[174],"location":[176],"respect":[181],"their":[186],"type":[187],"in":[188],"order":[189],"achieve":[191],"isotropy.":[192],"It":[193],"shown":[195],"three":[199,221],"conventional":[200],"can":[202],"made":[204],"isotropic":[205],"if":[206,219],"either":[209],"vanishes":[210],"or":[211],"equals":[212],"radius":[214],"wheel,":[217],"are":[223],"mounted":[224],"vertices":[227],"an":[229],"equilateral":[230],"triangle.":[231]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}