{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,18]],"date-time":"2026-04-18T16:01:43Z","timestamp":1776528103687,"version":"3.51.2"},"reference-count":39,"publisher":"Springer Science and Business Media LLC","issue":"3-4","license":[{"start":{"date-parts":[[2019,7,18]],"date-time":"2019-07-18T00:00:00Z","timestamp":1563408000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2019,7,18]],"date-time":"2019-07-18T00:00:00Z","timestamp":1563408000000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2020,3]]},"DOI":"10.1007\/s10846-019-01059-1","type":"journal-article","created":{"date-parts":[[2019,7,18]],"date-time":"2019-07-18T08:03:32Z","timestamp":1563437012000},"page":"695-717","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["New Adaptive Segmented Wheel for Locomotion Improvement of Field Robots on Soft Terrain"],"prefix":"10.1007","volume":"97","author":[{"given":"Arman","family":"Mardani","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Saeed","family":"Ebrahimi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Khalil","family":"Alipour","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2019,7,18]]},"reference":[{"issue":"5","key":"1059_CR1","doi-asserted-by":"publisher","first-page":"42","DOI":"10.1038\/scientificamerican0550-42","volume":"182","author":"W. Grey Walter","year":"1950","unstructured":"Walter, W.G.: An imitation of life. Sci. Am. 182(5), 42\u201345 (1950) \nhttps:\/\/www.jstor.org\/stable\/24967456\n\n. Accesed 12 Feb 2019","journal-title":"Scientific American"},{"issue":"3","key":"1059_CR2","doi-asserted-by":"publisher","first-page":"339","DOI":"10.1080\/08929889408426406","volume":"4","author":"MV Tarasenko","year":"1964","unstructured":"Tarasenko, M.V.: Transformation of the soviet space program after the cold war. Sci Glob Secur. 4(3), 339\u2013361 (1964). \nhttps:\/\/doi.org\/10.1080\/08929889408426406","journal-title":"Sci Glob Secur"},{"key":"1059_CR3","volume-title":"An Assessment of Balance in NASA's Science Programs","author":"S Board","year":"2006","unstructured":"Board, S.: An Assessment of Balance in NASA's Science Programs. National Academies Press, Washington (2006)"},{"key":"1059_CR4","unstructured":"Pedersen, L., Kortenkamp, D., Wettergreen, D., Nourbakhsh, I.: A survey of space robotics. CA, United States. In: Korsmeyer, D. (ed.) NASA technical report server. 20030054507 (2003) Online. Available: \nhttps:\/\/ntrs.nasa.gov\/search.jsp?R=20030054507\n\n. Accesed 12 Feb 2019"},{"key":"1059_CR5","doi-asserted-by":"publisher","DOI":"10.1117\/12.2309570","volume-title":"A history and overview of mobility modeling for autonomous unmanned ground vehicles. Autonomous Systems: Sensors, Vehicles, Security, and the Internet of Everything","author":"PJ Durst","year":"2018","unstructured":"Durst, P.J., Monroe, G., Bethel, C.L., Anderson, D.T., Carruth, D.W.: A history and overview of mobility modeling for autonomous unmanned ground vehicles. Autonomous Systems: Sensors, Vehicles, Security, and the Internet of Everything (2018). \nhttps:\/\/doi.org\/10.1117\/12.2309570"},{"issue":"3\u20134","key":"1059_CR6","doi-asserted-by":"publisher","first-page":"515","DOI":"10.1007\/s10846-017-0724-1","volume":"91","author":"Y Zhu","year":"2018","unstructured":"Zhu, Y., Fei, Y., Xu, H.: Stability analysis of a wheel-track-leg hybrid Mobile robot. J Intell Robot Syst. 91(3\u20134), 515\u2013528 (2018). \nhttps:\/\/doi.org\/10.1007\/s10846-017-0724-1","journal-title":"J Intell Robot Syst"},{"issue":"1","key":"1059_CR7","doi-asserted-by":"publisher","first-page":"147","DOI":"10.1007\/s10846-013-9985-5","volume":"75","author":"G Granosik","year":"2014","unstructured":"Granosik, G.: Hypermobile robots\u2013the survey. J Intell Robot Syst. 75(1), 147\u2013169 (2014). \nhttps:\/\/doi.org\/10.1007\/s10846-013-9985-5","journal-title":"J Intell Robot Syst"},{"key":"1059_CR8","unstructured":"Ding, X., Zheng, Y., Xu, K.: Wheel-legged hexapod robots: a multifunctional mobile manipulating platform. Chinese Journal of Mechanical Engineering 30(1), 3-6 (2017) Online. Available: \nhttp:\/\/www.cnki.com.cn\/Article\/CJFDTotal-YJXB201701002.htm\n\n. Accesed 12 Feb 2019"},{"issue":"1","key":"1059_CR9","doi-asserted-by":"publisher","first-page":"20","DOI":"10.1080\/15397734.2018.1487845","volume":"47","author":"S Ebrahimi","year":"2019","unstructured":"Ebrahimi, S., Mardani, A.: Expanding scissor-based UGV for large obstacles climbing. Mechanics Based Design of Structures and Machines. 47(1), 20\u201336 (2019). \nhttps:\/\/doi.org\/10.1080\/15397734.2018.1487845","journal-title":"Mechanics Based Design of Structures and Machines"},{"key":"1059_CR10","unstructured":"Ebrahimi, S., Mardani, a.:obstacle climbing improvement of wheeled Mobile robots with extendable bodies. The 5th joint international conference on multibody system dynamics (IMSD), June 24\u201328. Lisbon, Portugal (2018). \nhttp:\/\/imsd2018.tecnico.ulisboa.pt\/Web_Abstracts_IMSD2018\/pdf\/WEB_PAPERS\/IMSD2018_Full_Paper_106.pdf\n\n. Accesed 12 Feb 2019"},{"issue":"3\u20134","key":"1059_CR11","doi-asserted-by":"publisher","first-page":"601","DOI":"10.1007\/s10846-017-0771-7","volume":"93","author":"S Dogru","year":"2019","unstructured":"Dogru, S., Marques, L.: Power characterization of a skid-steered Mobile field robot with an application to headland turn optimization. Journal of Intelligent & Robotic Systems. 93(3\u20134), 601\u2013615 (2019). \nhttps:\/\/doi.org\/10.1007\/s10846-017-0771-7","journal-title":"Journal of Intelligent & Robotic Systems"},{"key":"1059_CR12","doi-asserted-by":"publisher","unstructured":"Ebrahimi, S., Mardani, A.: Terramechanics-based performance enhancement of the wide robotic wheel on the soft terrains, part I: wheel shape optimization. The 4th IEEE International Conference on Robotics and Mechatronics. \nhttps:\/\/doi.org\/10.1109\/ICRoM.2017.8466134","DOI":"10.1109\/ICRoM.2017.8466134"},{"key":"1059_CR13","doi-asserted-by":"publisher","unstructured":"Mardani, A., Ebrahimi, S.: Terramechanics-based performance enhancement of the wide robotic wheel on the soft terrains, Part II: torque control of the optimized wheel. The 4th IEEE International Conference on Robotics and Mechatronics. \nhttps:\/\/doi.org\/10.1109\/ICRoM.2017.8466156","DOI":"10.1109\/ICRoM.2017.8466156"},{"key":"1059_CR14","doi-asserted-by":"publisher","first-page":"135","DOI":"10.1007\/978-3-642-22167-5_8","volume-title":"Trends in Computational Contact Mechanics","author":"Rainer Krenn","year":"2011","unstructured":"Krenn, R., Gibbesch, A.: Soft soil contact modeling technique for multi-body system simulation. In: Zavarise, G., Wriggers, P. (ed.) 58, Trends in Computational Contact Mechanics. Lecture Notes in Applied and Computational Mechanics: Springer, Berlin, Heidelberg. (2011)"},{"issue":"sup1","key":"1059_CR15","doi-asserted-by":"publisher","first-page":"384","DOI":"10.1080\/00423110500139981","volume":"43","author":"C Harnisch","year":"2005","unstructured":"Harnisch, C., Lach, B., Jakobs, R., Troulis, M.: A new Tyre\u2013soil interaction model for vehicle simulation on deformable ground. Veh. Syst. Dyn. 43(sup1), 384\u2013394 (2005). \nhttps:\/\/doi.org\/10.1080\/00423110500139981","journal-title":"Veh. Syst. Dyn."},{"issue":"3-4","key":"1059_CR16","doi-asserted-by":"publisher","first-page":"999","DOI":"10.1007\/s10846-018-0932-3","volume":"95","author":"Saeed Ebrahimi","year":"2018","unstructured":"Ebrahimi, S., Mardani, A.: A new contact angle detection method for dynamics estimation of a UGV subject to slipping in rough-terrain. J Intell Robot Syst. 1\u201321 (2018). \nhttps:\/\/doi.org\/10.1007\/s10846-018-0932-3","journal-title":"Journal of Intelligent & Robotic Systems"},{"key":"1059_CR17","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.robot.2017.08.007","volume":"98","author":"A Mardani","year":"2017","unstructured":"Mardani, A., Ebrahimi, S.: Simultaneous surface scanning and stability analysis of wheeled mobile robots using a new spatial sensitive shield sensor. Robot. Auton. Syst. 98, 1\u201314 (2017). \nhttps:\/\/doi.org\/10.1016\/j.robot.2017.08.007","journal-title":"Robot. Auton. Syst."},{"key":"1059_CR18","doi-asserted-by":"publisher","first-page":"39","DOI":"10.1016\/j.ymssp.2018.09.017","volume":"119","author":"Z Liu","year":"2019","unstructured":"Liu, Z., Guo, J., Ding, L., Gao, H., Guo, T., Denga, D.: Online estimation of terrain parameters and resistance force based on equivalent sinkage for planetary rovers in longitudinal skid. Mech. Syst. Signal Process. 119, 39\u201354 (2019). \nhttps:\/\/doi.org\/10.1016\/j.ymssp.2018.09.017","journal-title":"Mech. Syst. Signal Process."},{"key":"1059_CR19","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1016\/j.jterra.2018.04.003","volume":"81","author":"R He","year":"2019","unstructured":"He, R., Sandu, C., Khan, A.K., Guthrie, A.G., Els, P.S., Hamersma, H.A.: Review of terramechanics models and their applicability to real-time applications. J. Terrramech. 81, 3\u201322 (2019). \nhttps:\/\/doi.org\/10.1016\/j.jterra.2018.04.003","journal-title":"J. Terrramech."},{"key":"1059_CR20","unstructured":"Bekker, M.G.: Theory of Land Locomotion. University of Michigan Press (1956)"},{"issue":"S1","key":"1059_CR21","doi-asserted-by":"publisher","first-page":"173","DOI":"10.1504\/IJVP.2019.097099","volume":"27","author":"FR Fassbender","year":"1997","unstructured":"Fassbender, F.R., Fervers, C.W., Harnisch, C.: Approaches to predict the vehicle dynamics on soft soil. Veh. Syst. Dyn. 27(S1), 173\u2013188 (1997). \nhttps:\/\/doi.org\/10.1504\/IJVP.2019.097099","journal-title":"Veh. Syst. Dyn."},{"issue":"2","key":"1059_CR22","doi-asserted-by":"publisher","first-page":"179","DOI":"10.1007\/s10846-012-9777-3","volume":"71","author":"RA Irani","year":"2013","unstructured":"Irani, R.A., Bauer, R.J., Warkentin, A.: Dynamic wheel-soil model for lightweight mobile robots with smooth wheels. J Intell Robot Syst. 71(2), 179\u2013193 (2013). \nhttps:\/\/doi.org\/10.1007\/s10846-012-9777-3","journal-title":"J Intell Robot Syst"},{"issue":"3","key":"1059_CR23","doi-asserted-by":"publisher","first-page":"244","DOI":"10.1007\/s11633-006-0244-0","volume":"3","author":"S Hutangkabodee","year":"2006","unstructured":"Hutangkabodee, S., Zweiri, Y.H., Seneviratne, L.D.: Soil parameter identification for wheel-terrain interaction dynamics and traversability prediction. Int. J. Autom. Comput. 3(3), 244\u2013251 (2006). \nhttps:\/\/doi.org\/10.1007\/s11633-006-0244-0","journal-title":"Int. J. Autom. Comput."},{"key":"1059_CR24","unstructured":"Zachmann, G.: Virtual reality in assembly simulation-collision detection, simulation algorithms, and interaction techniques. [dissertation]. Zachmann: Gabriel (2000)"},{"key":"1059_CR25","unstructured":"Buse, F.: Using superposition of local soil flow fields to improve soil deformation in the DLR soil contact model-SCM. . The 5th Joint International Conference on Multibody System Dynamics (IMSD); June 24\u201328, Lisbon (2018). \nhttp:\/\/imsd2018.tecnico.ulisboa.pt\/Web_Abstracts_IMSD2018\/pdf\/WEB_PAPERS\/IMSD2018_Full_Paper_14.pdf\n\n. Accesed 2 Dec. 2019"},{"key":"1059_CR26","doi-asserted-by":"crossref","unstructured":"Wong, J.Y.: Terramechanics and off-Road Vehicle Engineering: Terrain Behaviour, off-Road Vehicle Performance and Design. Butterworth-Heinemann (2009)","DOI":"10.1016\/B978-0-7506-8561-0.00002-6"},{"key":"1059_CR27","doi-asserted-by":"publisher","first-page":"259","DOI":"10.1016\/j.mechmachtheory.2016.02.005","volume":"100","author":"B Ghotbi","year":"2016","unstructured":"Ghotbi, B., Gonz\u00e1lez, F., K\u00f6vecses, J., Angeles, J.: Mobility evaluation of wheeled robots on soft terrain: effect of internal force distribution. Mech. Mach. Theory. 100, 259\u2013282 (2016). \nhttps:\/\/doi.org\/10.1016\/j.mechmachtheory.2016.02.005","journal-title":"Mech. Mach. Theory"},{"key":"1059_CR28","doi-asserted-by":"publisher","first-page":"14","DOI":"10.1016\/j.mechmachtheory.2017.05.011","volume":"116","author":"L Ding","year":"2017","unstructured":"Ding, L., Yang, H., Gao, H., Li, N., Deng, Z., Guo, J., Li, N.: Terramechanics-based modeling of sinkage and moment for in-situ steering wheels of mobile robots on deformable terrain. Mech. Mach. Theory. 116, 14\u201333 (2017). \nhttps:\/\/doi.org\/10.1016\/j.mechmachtheory.2017.05.011","journal-title":"Mech. Mach. Theory"},{"key":"1059_CR29","doi-asserted-by":"publisher","first-page":"240","DOI":"10.1016\/j.mechmachtheory.2018.03.003","volume":"125","author":"W Zeng","year":"2018","unstructured":"Zeng, W., Gao, F., Jiang, H., Huang, C., Jianxing, L., Hanfei, L.: Design and analysis of a compliant variable-diameter mechanism used in variable-diameter wheels for lunar rover. Mech. Mach. Theory. 125, 240\u2013258 (2018). \nhttps:\/\/doi.org\/10.1016\/j.mechmachtheory.2018.03.003","journal-title":"Mech. Mach. Theory"},{"issue":"2","key":"1059_CR30","doi-asserted-by":"publisher","first-page":"730","DOI":"10.1109\/TMECH.2013.2253615","volume":"19","author":"SC Chen","year":"2014","unstructured":"Chen, S.C., Huang, K.J., Chen, W.H., Shen, S.Y., Li, C.H., Lin, P.C.: Quattroped: a leg-wheel transformable robot. IEEE\/ASME Transactions on Mechatronics. 19(2), 730\u2013742 (2014). \nhttps:\/\/doi.org\/10.1109\/TMECH.2013.2253615","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"issue":"5","key":"1059_CR31","doi-asserted-by":"publisher","first-page":"1025","DOI":"10.1109\/TRO.2017.2696022","volume":"33","author":"WH Chen","year":"2017","unstructured":"Chen, W.H., Lin, H.S., Lin, Y.M., Lin, P.C.: TurboQuad: a novel leg\u2013wheel transformable robot with smooth and fast behavioral transitions. IEEE Trans. Robot. 33(5), 1025\u20131040 (2017). \nhttps:\/\/doi.org\/10.1109\/TRO.2017.2696022","journal-title":"IEEE Trans. Robot."},{"key":"1059_CR32","doi-asserted-by":"publisher","first-page":"30","DOI":"10.1016\/j.robot.2017.09.008","volume":"98","author":"T Sun","year":"2017","unstructured":"Sun, T., Xiang, X., Su, W., Wu, H., Song, Y.: A transformable wheel-legged mobile robot: design, analysis and experiment. Robot. Auton. Syst. 98, 30\u201341 (2017). \nhttps:\/\/doi.org\/10.1016\/j.robot.2017.09.008","journal-title":"Robot. Auton. Syst."},{"key":"1059_CR33","doi-asserted-by":"publisher","first-page":"145","DOI":"10.1016\/j.robot.2018.06.005","volume":"107","author":"L Bai","year":"2018","unstructured":"Bai, L., Guan, J., Chen, X., Hou, J., Duan, W.: An optional passive\/active transformable wheel-legged mobility concept for search and rescue robots. Robot. Auton. Syst. 107, 145\u2013155 (2018). \nhttps:\/\/doi.org\/10.1016\/j.robot.2018.06.005","journal-title":"Robot. Auton. Syst."},{"key":"1059_CR34","doi-asserted-by":"publisher","first-page":"45","DOI":"10.1016\/j.jterra.2016.11.001","volume":"69","author":"X Xie","year":"2017","unstructured":"Xie, X., Gao, F., Huang, C., Zeng, W.: Design and development of a new transformable wheel used in amphibious all-terrain vehicles (A-ATV). J. Terrramech. 69, 45\u201361 (2017). \nhttps:\/\/doi.org\/10.1016\/j.jterra.2016.11.001","journal-title":"J. Terrramech."},{"issue":"1","key":"1059_CR35","doi-asserted-by":"publisher","first-page":"172988141668713","DOI":"10.1177\/1729881416687135","volume":"14","author":"Inho Kim","year":"2017","unstructured":"Kim, I., Jeon, W., Yang, H.: Design of a transformable mobile robot for enhancing mobility. Int. J. Adv. Robot. Syst. 14(1), (2017). \nhttps:\/\/doi.org\/10.1177\/1729881416687135","journal-title":"International Journal of Advanced Robotic Systems"},{"issue":"3","key":"1059_CR36","doi-asserted-by":"publisher","first-page":"901","DOI":"10.1109\/TNNLS.2019.2910580","volume":"31","author":"Tong Yang","year":"2020","unstructured":"Yang, T., Sun, N., Chen, H., Fang, Y.: Neural network-based adaptive antiswing control of an underactuated ship-mounted crane with roll motions and input dead zones. IEEE Transactions on Neural Networks and Learning Systems. 1-14, (2019). \nhttps:\/\/doi.org\/10.1109\/TNNLS.2019.2910580","journal-title":"IEEE Transactions on Neural Networks and Learning Systems"},{"issue":"7","key":"1059_CR37","doi-asserted-by":"publisher","first-page":"1408","DOI":"10.1109\/TSMC.2018.2871627","volume":"49","author":"Ning Sun","year":"2019","unstructured":"Sun, N., Yang, T., Fang, Y., Wu, Y., Chen, H.: Transportation control of double-pendulum cranes with a nonlinear quasi-PID scheme: design and experiments. IEEE Trans Syst Man Cybern Syst. 49(7), 1408\u20131418 (2018). \nhttps:\/\/doi.org\/10.1109\/TSMC.2018.2871627","journal-title":"IEEE Transactions on Systems, Man, and Cybernetics: Systems"},{"issue":"8","key":"1059_CR38","doi-asserted-by":"publisher","first-page":"1587","DOI":"10.1109\/TFUZZ.2018.2883374","volume":"27","author":"Kangkang Sun","year":"2019","unstructured":"Sun, K., Mou, S., Qiu, J., Wang, T., Gao, H.: Adaptive fuzzy control for non-triangular structural stochastic switched nonlinear systems with full state constraints. IEEE Trans Fuzzy Syst. 1 (2018). \nhttps:\/\/doi.org\/10.1109\/TFUZZ.2018.2883374","journal-title":"IEEE Transactions on Fuzzy Systems"},{"key":"1059_CR39","doi-asserted-by":"publisher","unstructured":"Tran, T.H., Kwok, N.M., Scheding, S., Ha, Q.P.: Dynamic modelling of wheel-terrain interaction of a UGV. IEEE International conference on automation Science and Engineering CASE, AZ, USA. (2007). \nhttps:\/\/doi.org\/10.1109\/COASE.2007.4341715","DOI":"10.1109\/COASE.2007.4341715"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-019-01059-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-019-01059-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-019-01059-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,7,16]],"date-time":"2020-07-16T23:10:07Z","timestamp":1594941007000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-019-01059-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,7,18]]},"references-count":39,"journal-issue":{"issue":"3-4","published-print":{"date-parts":[[2020,3]]}},"alternative-id":["1059"],"URL":"https:\/\/doi.org\/10.1007\/s10846-019-01059-1","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,7,18]]},"assertion":[{"value":"4 March 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"24 June 2019","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"18 July 2019","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}