{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T00:58:09Z","timestamp":1760230689187,"version":"build-2065373602"},"reference-count":18,"publisher":"MDPI AG","issue":"16","license":[{"start":{"date-parts":[[2022,8,9]],"date-time":"2022-08-09T00:00:00Z","timestamp":1660003200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100016397","name":"Artificial Intelligence Research Promotion Foundation","doi-asserted-by":"publisher","award":["28AI 043-1"],"award-info":[{"award-number":["28AI 043-1"]}],"id":[{"id":"10.13039\/100016397","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper describes mobile robot tactics for recovering a wheeled vehicle that has overturned. If such a vehicle were to tip over backward off its wheels and be unable to recover itself, especially in areas where it is difficult for humans to enter and work, overall work efficiency could decline significantly, not only because the vehicle is not able to perform its job, but because it becomes an obstacle to other work. Herein, the authors propose a robot-based recovery method that can be used to recover such overturned vehicles, and the authors evaluate its effectiveness. The recovery robot, which uses a mounted manipulator and hand to recover the overturned vehicle, is also equipped with a camera and a personal computer (PC). The ARToolKit software package installed on the PC detects AR markers attached to the overturned vehicle and uses the information they provide to orient itself in order to perform recovery operations. A statics analysis indicates the feasibility of the proposed method. To facilitate these operations, it is also necessary to know the distance between the robotic hand and the target position for grasping of vehicle. Therefore, a theoretical analysis is conducted, and a control system based on the results is implemented. The experimental results obtained in this study demonstrate the effectiveness of the proposed system.<\/jats:p>","DOI":"10.3390\/s22165952","type":"journal-article","created":{"date-parts":[[2022,8,10]],"date-time":"2022-08-10T04:20:32Z","timestamp":1660105232000},"page":"5952","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Recovery Strategy for Overturned Wheeled Vehicle Using a Mobile Robot and Experimental Validation"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7249-9136","authenticated-orcid":false,"given":"Hidetoshi","family":"Ikeda","sequence":"first","affiliation":[{"name":"Department of Engineering, Niigata Institute of Technology, 1719 Fujihashi, Kashiwazaki City 945-1195, Japan"},{"name":"Department of Mechanical Engineering, Toyama College, National Institute of Technology, 13 Hongouchou, Toyama 939-8630, Japan"}]},{"given":"Shinya","family":"Atoji","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Toyama College, National Institute of Technology, 13 Hongouchou, Toyama 939-8630, Japan"}]},{"given":"Manami","family":"Amemiya","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Toyama College, National Institute of Technology, 13 Hongouchou, Toyama 939-8630, Japan"}]},{"given":"Shingo","family":"Tajima","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Toyama College, National Institute of Technology, 13 Hongouchou, Toyama 939-8630, Japan"}]},{"given":"Takayoshi","family":"Kitada","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Toyama College, National Institute of Technology, 13 Hongouchou, Toyama 939-8630, Japan"}]},{"given":"Kotaro","family":"Fukai","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Toyama College, National Institute of Technology, 13 Hongouchou, Toyama 939-8630, Japan"}]},{"given":"Keisuke","family":"Sato","sequence":"additional","affiliation":[{"name":"Department of Electrical and Control Systems Engineering, Toyama College, National Institute of Technology, Toyama 939-8045, Japan"}]}],"member":"1968","published-online":{"date-parts":[[2022,8,9]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Okada, Y., Nagatani, K., and Yoshida, K. (2009, January 10\u201315). Semi-autonomous operation of tracked vehicles on rough terrain using autonomous control of active flippers. Proceedings of the 2009 IEEE\/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, USA.","DOI":"10.1109\/IROS.2009.5354549"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"137","DOI":"10.1163\/156855395X00049","article-title":"Enhanced wheel system for step climbing","volume":"9","author":"Taguchi","year":"1995","journal-title":"Adv. Robot."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"661","DOI":"10.20965\/jrm.2008.p0661","article-title":"Free gait algorithm with two returning legs of a leg-wheel robot","volume":"20","author":"Nakajima","year":"2008","journal-title":"J. Robot. Mechatronics"},{"key":"ref_4","unstructured":"Kumar, V., and Krovi, V. (1995, January 10\u201313). Optimal Traction Control In A Wheelchair With legs Furthermore, Wheels. 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