{"id":"https://openalex.org/W2561490485","doi":"https://doi.org/10.1109/iros.2016.7759198","title":"Motion control of tracked vehicle based on contact force model","display_name":"Motion control of tracked vehicle based on contact force model","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2561490485","doi":"https://doi.org/10.1109/iros.2016.7759198","mag":"2561490485"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759198","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-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/A5101506282","display_name":"Shotaro Kojima","orcid":"https://orcid.org/0000-0003-0042-1764"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shotaro Kojima","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055778007","display_name":"Kazunori Ohno","orcid":"https://orcid.org/0000-0003-3958-2901"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazunori Ohno","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088432056","display_name":"Takahiro Suzuki","orcid":"https://orcid.org/0000-0001-6179-0614"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takahiro Suzuki","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065513440","display_name":"Thomas Westfechtel","orcid":"https://orcid.org/0000-0002-3665-5725"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Thomas Westfechtel","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073956776","display_name":"Yoshito Okada","orcid":"https://orcid.org/0000-0003-3830-079X"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshito Okada","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014118063","display_name":"Satosh\u0131 Tadokoro","orcid":"https://orcid.org/0000-0002-5571-4276"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Tadokoro","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.331,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":8,"citation_normalized_percentile":{"value":0.927764,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":84,"max":85},"biblio":{"volume":null,"issue":null,"first_page":"1177","last_page":"1183"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9999,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9999,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9996,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9983,"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/contact-force","display_name":"Contact force","score":0.5057702}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6708903},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6482043},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.51870924},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5057702},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.503251},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.49910474},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48540315},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.47475246},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4599672},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.45384282},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4209336},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.41969675},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38858473},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38642105},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3072551},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27907553},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.13209975},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.105665684},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"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}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759198","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":8,"referenced_works":["https://openalex.org/W1904099185","https://openalex.org/W1977375951","https://openalex.org/W2105660272","https://openalex.org/W2113286054","https://openalex.org/W2117211893","https://openalex.org/W2125409550","https://openalex.org/W2125518709","https://openalex.org/W2165852544"],"related_works":["https://openalex.org/W650625605","https://openalex.org/W3113932901","https://openalex.org/W2979398413","https://openalex.org/W2801025257","https://openalex.org/W2551285827","https://openalex.org/W2386719143","https://openalex.org/W2372181157","https://openalex.org/W2027504272","https://openalex.org/W1919219501","https://openalex.org/W1532677580"],"abstract_inverted_index":{"In":[0,22,41,113],"large":[1],"industrial":[2],"plants,":[3],"the":[4,61,72,75,79,85,88,90,103,135,140],"inspection":[5,34],"of":[6,74,84],"production":[7],"lines":[8],"is":[9,94,105],"a":[10,37,55,145],"heavy":[11],"and":[12,81,126],"costly":[13],"task":[14],"that":[15,59,102],"puts":[16],"human":[17],"inspectors":[18],"at":[19],"high":[20],"risk.":[21],"order":[23],"to":[24,63,142],"overcome":[25],"these":[26],"challenges,":[27],"we":[28,44],"have":[29],"developed":[30],"an":[31,46],"autonomous":[32,47],"plant":[33],"system":[35],"using":[36],"mobile":[38],"tracked":[39,51],"vehicle.":[40],"this":[42],"paper,":[43],"propose":[45],"navigation":[48,133],"method":[49,116,138],"for":[50,65],"vehicles":[52],"based":[53],"on":[54,78],"contact":[56,76],"force":[57,77],"model":[58,70],"enables":[60],"robot":[62,104,141],"compensate":[64],"collisions":[66],"with":[67,110,150],"obstacles.":[68,151],"The":[69,98,137],"considers":[71],"influence":[73],"linear":[80],"angular":[82],"motion":[83],"robot.":[86],"Using":[87],"model,":[89],"controllable":[91],"velocity":[92,111],"range":[93],"derived":[95],"during":[96],"collisions.":[97],"experimental":[99],"results":[100],"show":[101],"safely":[106],"controlled":[107],"by":[108],"complying":[109],"constraints.":[112],"addition,":[114],"our":[115],"can":[117],"generate":[118],"motions":[119],"such":[120],"as":[121],"leaving":[122],"wall,":[123],"L-shaped":[124],"curve":[125],"crosswise":[127],"locomotion":[128],"in":[129],"straight":[130],"passage":[131],"while":[132],"alongside":[134],"walls.":[136],"allows":[139],"smoothly":[143],"follow":[144],"target":[146],"path,":[147],"despite":[148],"colliding":[149]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2561490485","counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2024-12-15T15:16:18.247858","created_date":"2017-01-06"}