{"id":"https://openalex.org/W2010269338","doi":"https://doi.org/10.1177/027836498900800502","title":"On the Kinematics of Wheeled Mobile Robots","display_name":"On the Kinematics of Wheeled Mobile Robots","publication_year":1989,"publication_date":"1989-10-01","ids":{"openalex":"https://openalex.org/W2010269338","doi":"https://doi.org/10.1177/027836498900800502","mag":"2010269338"},"language":"en","primary_location":{"id":"doi:10.1177/027836498900800502","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836498900800502","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5102458196","display_name":"J. C. Alexander","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"J.C. Alexander","raw_affiliation_strings":["Department of Mathematics University of Maryland College Park, Maryland 20742"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mathematics University of Maryland College Park, Maryland 20742","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065904104","display_name":"John H. Maddocks","orcid":"https://orcid.org/0000-0003-1127-8481"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J.H. Maddocks","raw_affiliation_strings":["Department of Mathematics University of Maryland College Park, Maryland 20742"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mathematics University of Maryland College Park, Maryland 20742","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5102458196"],"corresponding_institution_ids":["https://openalex.org/I66946132"],"apc_list":null,"apc_paid":null,"fwci":2.9669,"has_fulltext":false,"cited_by_count":228,"citation_normalized_percentile":{"value":0.90348354,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"8","issue":"5","first_page":"15","last_page":"27"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9994000196456909,"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":0.9979000091552734,"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":0.6773389577865601},{"id":"https://openalex.org/keywords/slippage","display_name":"Slippage","score":0.6360129117965698},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.5814982652664185},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5357721447944641},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5181856751441956},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.47239038348197937},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47218623757362366},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45799925923347473},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4286551773548126},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.4028366506099701},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.29126840829849243},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2545285224914551},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16068321466445923},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.12629154324531555}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6773389577865601},{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.6360129117965698},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.5814982652664185},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5357721447944641},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5181856751441956},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.47239038348197937},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47218623757362366},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45799925923347473},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4286551773548126},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.4028366506099701},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.29126840829849243},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2545285224914551},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16068321466445923},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.12629154324531555},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/027836498900800502","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836498900800502","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6899999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W100724795","https://openalex.org/W102405042","https://openalex.org/W272007376","https://openalex.org/W654477167","https://openalex.org/W1484515782","https://openalex.org/W1502820991","https://openalex.org/W1536378613","https://openalex.org/W1575037578","https://openalex.org/W1639227073","https://openalex.org/W1969998301","https://openalex.org/W1991950393","https://openalex.org/W2046387417","https://openalex.org/W2086594463","https://openalex.org/W2088842637","https://openalex.org/W2139390199","https://openalex.org/W2163042598","https://openalex.org/W2731752704","https://openalex.org/W3104173120","https://openalex.org/W3145733612","https://openalex.org/W6740745882"],"related_works":["https://openalex.org/W2917225013","https://openalex.org/W845789065","https://openalex.org/W2039606477","https://openalex.org/W2361542615","https://openalex.org/W585312555","https://openalex.org/W2055370323","https://openalex.org/W2052447287","https://openalex.org/W2978007058","https://openalex.org/W2963114044","https://openalex.org/W849590218"],"abstract_inverted_index":{"A":[0],"wheeled":[1],"mobile":[2],"robot":[3,30],"is":[4,39,86,100,112,119,125],"here":[5],"modelled":[6],"as":[7],"a":[8,105],"planar":[9],"rigid":[10,25,64],"body":[11,26,65],"that":[12,46,48,67,79,111,121],"rides":[13],"on":[14],"an":[15],"arbitrary":[16,83],"number":[17],"of":[18,28,37,82,91,97,104,130],"wheels.":[19],"The":[20,74],"rela":[21],"tionship":[22],"between":[23],"the":[24,29,32,63,89,98,128,138],"motion":[27],"and":[31,34],"steering":[33],"drive":[35],"rates":[36],"wheels":[38,99],"developed.":[40],"In":[41],"particular,":[42],"conditions":[43],"are":[44,59,134],"obtained":[45],"guarantee":[47],"rolling":[49,72],"without":[50],"skidding":[51],"or":[52],"sliding":[53],"can":[54],"occur.":[55],"Explicit":[56],"differential":[57],"equations":[58],"derived":[60,113],"to":[61,94,127,136],"describe":[62],"motions":[66,85],"arise":[68],"in":[69],"such":[70],"ideal":[71],"trajectories.":[73],"simplest":[75],"wheel":[76],"configura":[77],"tion":[78],"permits":[80],"access":[81],"rigid-body":[84],"determined.":[87],"Then":[88],"question":[90],"slippage":[92],"due":[93],"misalign":[95],"ment":[96],"investigated":[101],"by":[102],"minimization":[103,123],"non-":[106],"smooth":[107],"convex":[108],"dissipation":[109],"functional":[110],"from":[114],"Coulomb's":[115],"Law":[116],"offriction.":[117],"It":[118],"shown":[120],"this":[122],"principle":[124],"equivalent":[126],"construction":[129],"quasi-static":[131],"motions.":[132],"Examples":[133],"presented":[135],"illustrate":[137],"models.":[139]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":8}],"updated_date":"2026-05-03T06:03:33.228499","created_date":"2025-10-10T00:00:00"}
