{"id":"https://openalex.org/W2566531475","doi":"https://doi.org/10.1109/rcar.2016.7784094","title":"Heavy-Payload Omnidirectional Robot","display_name":"Heavy-Payload Omnidirectional Robot","publication_year":2016,"publication_date":"2016-06-01","ids":{"openalex":"https://openalex.org/W2566531475","doi":"https://doi.org/10.1109/rcar.2016.7784094","mag":"2566531475"},"language":"en","primary_location":{"id":"doi:10.1109/rcar.2016.7784094","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar.2016.7784094","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5101736077","display_name":"Long Han","orcid":"https://orcid.org/0000-0002-0769-7002"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Long Han","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Sha Tin, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Sha Tin, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044361827","display_name":"Huihuan Qian","orcid":"https://orcid.org/0000-0001-8269-0882"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huihuan Qian","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101845817","display_name":"Kexin Xing","orcid":"https://orcid.org/0000-0001-7539-2078"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kexin Xing","raw_affiliation_strings":["The Chinese University of Hong Kong, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112309496","display_name":"Yangsheng Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yangsheng Xu","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"20","issue":null,"first_page":"579","last_page":"584"},"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":0.9998000264167786,"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":0.9998000264167786,"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":0.9980000257492065,"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":0.9848999977111816,"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/payload","display_name":"Payload (computing)","score":0.8889544010162354},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.6207605600357056},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6069105267524719},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5328545570373535},{"id":"https://openalex.org/keywords/tilt","display_name":"Tilt (camera)","score":0.5222837924957275},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3483489453792572},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34449923038482666},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29634153842926025},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.21950331330299377},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11066976189613342},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09017282724380493}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.8889544010162354},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.6207605600357056},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6069105267524719},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5328545570373535},{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.5222837924957275},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3483489453792572},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34449923038482666},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29634153842926025},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.21950331330299377},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11066976189613342},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09017282724380493},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar.2016.7784094","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar.2016.7784094","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.9100000262260437}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1522647275","https://openalex.org/W1555976726","https://openalex.org/W1900988868","https://openalex.org/W1986018346","https://openalex.org/W1991722338","https://openalex.org/W2002282487","https://openalex.org/W2053353756","https://openalex.org/W2072901137","https://openalex.org/W2073924944","https://openalex.org/W2095936905","https://openalex.org/W2096034271","https://openalex.org/W2103609145","https://openalex.org/W2103924815","https://openalex.org/W2120135120","https://openalex.org/W2136959507","https://openalex.org/W2139918746","https://openalex.org/W2145068019","https://openalex.org/W2149012351","https://openalex.org/W2155623974","https://openalex.org/W2156466456","https://openalex.org/W2163825260","https://openalex.org/W2168108948","https://openalex.org/W2169673025","https://openalex.org/W2181282840","https://openalex.org/W6631560737","https://openalex.org/W6674297362","https://openalex.org/W6675846476"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W4288094128","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W2312786236","https://openalex.org/W4379531983","https://openalex.org/W2294241086"],"abstract_inverted_index":{"This":[0],"paper":[1],"elaborates":[2],"a":[3,27,30,35,109],"Heavy-Payload":[4],"Omnidirectional":[5],"Robot":[6],"(Hobot)":[7],"that":[8,104],"can":[9,106],"efficiently":[10,107],"carry":[11,108],"heavy":[12,99],"payloads":[13],"on":[14],"uneven":[15],"indoor":[16],"floors.":[17],"It":[18],"consists":[19],"of":[20,51,69,89,112,116,123],"four":[21,54],"Steer-able":[22],"Differential-Geared":[23],"Dual-Wheels":[24],"(SDD),":[25],"composed":[26],"differential-geared":[28],"dual-wheel,":[29],"passive":[31],"tilt-adapting":[32],"joint":[33],"and":[34,43,57,71,82],"suspension":[36],"washer.":[37],"In":[38],"order":[39],"to":[40],"combine":[41],"heavy-payload":[42],"omnidirectionality,":[44],"the":[45],"mechanism":[46],"is":[47],"designed":[48],"by":[49,94],"means":[50],"evaluating":[52],"its":[53],"qualitative":[55],"criteria":[56,62],"two":[58],"quantitative":[59],"metrics.":[60],"The":[61,75,87,101],"are":[63,77],"ground":[64],"contact,":[65],"energy":[66],"efficiency,":[67],"type":[68],"omnidirectionality":[70],"internal":[72],"stress":[73],"distribution.":[74],"metrics":[76],"Support":[78],"Force":[79],"Isotropy":[80],"(SFI)":[81],"Critically":[83],"Loaded":[84],"Mass":[85],"(CLM).":[86],"feasibility":[88],"Hobot":[90,105],"prototype":[91],"was":[92],"verified":[93],"omnidirectional":[95],"motion":[96],"experiments":[97],"under":[98,114],"payloads.":[100],"results":[102],"show":[103],"total":[110],"mass":[111],"2,130kg":[113],"speed":[115],"0.3m/s":[117],"using":[118],"only":[119],"an":[120],"average":[121],"power":[122],"646W.":[124]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
