{"id":"https://openalex.org/W2050027818","doi":"https://doi.org/10.1017/s0263574706003158","title":"Control of a redundant, reconfigurable ball wheel drive mechanism for an omnidirectional mobile platform","display_name":"Control of a redundant, reconfigurable ball wheel drive mechanism for an omnidirectional mobile platform","publication_year":2006,"publication_date":"2006-12-11","ids":{"openalex":"https://openalex.org/W2050027818","doi":"https://doi.org/10.1017/s0263574706003158","mag":"2050027818"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574706003158","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574706003158","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5052578911","display_name":"Young\u2010Chul Lee","orcid":"https://orcid.org/0000-0002-4702-0282"},"institutions":[{"id":"https://openalex.org/I84218800","display_name":"University of California, Davis","ror":"https://ror.org/05rrcem69","country_code":"US","type":"education","lineage":["https://openalex.org/I84218800"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Young-Chul Lee","raw_affiliation_strings":["Department of Mechanical and Aeronautical Engineering, University of California-Davis, Davis, CA, USA","Department of Mechanical and Aeronautical Engineering, University of California, Davis, Davis, CA USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aeronautical Engineering, University of California-Davis, Davis, CA, USA","institution_ids":["https://openalex.org/I84218800"]},{"raw_affiliation_string":"Department of Mechanical and Aeronautical Engineering, University of California, Davis, Davis, CA USA","institution_ids":["https://openalex.org/I84218800"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006665659","display_name":"Danny V. Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I84218800","display_name":"University of California, Davis","ror":"https://ror.org/05rrcem69","country_code":"US","type":"education","lineage":["https://openalex.org/I84218800"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Danny V. Lee","raw_affiliation_strings":["Department of Mechanical and Aeronautical Engineering, University of California-Davis, Davis, CA, USA","Department of Mechanical and Aeronautical Engineering, University of California, Davis, Davis, CA USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aeronautical Engineering, University of California-Davis, Davis, CA, USA","institution_ids":["https://openalex.org/I84218800"]},{"raw_affiliation_string":"Department of Mechanical and Aeronautical Engineering, University of California, Davis, Davis, CA USA","institution_ids":["https://openalex.org/I84218800"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114007833","display_name":"Jae Heon Chung","orcid":null},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jae H. Chung","raw_affiliation_strings":["Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA","(Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA)"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]},{"raw_affiliation_string":"(Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA)","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008339798","display_name":"Steven A. Velinsky","orcid":null},"institutions":[{"id":"https://openalex.org/I84218800","display_name":"University of California, Davis","ror":"https://ror.org/05rrcem69","country_code":"US","type":"education","lineage":["https://openalex.org/I84218800"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Steven A. Velinsky","raw_affiliation_strings":["Department of Mechanical and Aeronautical Engineering, University of California-Davis, Davis, CA, USA","Department of Mechanical and Aeronautical Engineering, University of California, Davis, Davis, CA USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aeronautical Engineering, University of California-Davis, Davis, CA, USA","institution_ids":["https://openalex.org/I84218800"]},{"raw_affiliation_string":"Department of Mechanical and Aeronautical Engineering, University of California, Davis, Davis, CA USA","institution_ids":["https://openalex.org/I84218800"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5008339798"],"corresponding_institution_ids":["https://openalex.org/I84218800"],"apc_list":null,"apc_paid":null,"fwci":1.8193,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.86387364,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"25","issue":"4","first_page":"385","last_page":"395"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9979000091552734,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9977999925613403,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.6672713160514832},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.6362125277519226},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5379064679145813},{"id":"https://openalex.org/keywords/ball-screw","display_name":"Ball screw","score":0.5291826128959656},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.5213300585746765},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5021557807922363},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4962058663368225},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45701390504837036},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4568305015563965},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4411349892616272},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39596736431121826},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39594775438308716},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.14046138525009155},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.13559675216674805},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11560073494911194},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0940561294555664}],"concepts":[{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.6672713160514832},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.6362125277519226},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5379064679145813},{"id":"https://openalex.org/C2777606094","wikidata":"https://www.wikidata.org/wiki/Q1791122","display_name":"Ball screw","level":3,"score":0.5291826128959656},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.5213300585746765},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5021557807922363},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4962058663368225},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45701390504837036},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4568305015563965},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4411349892616272},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39596736431121826},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39594775438308716},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.14046138525009155},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13559675216674805},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11560073494911194},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0940561294555664},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C206391251","wikidata":"https://www.wikidata.org/wiki/Q1186738","display_name":"Nut","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574706003158","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574706003158","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320308025","display_name":"California Department of Transportation","ror":"https://ror.org/04d46jp54"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W179372779","https://openalex.org/W1554861227","https://openalex.org/W1601541039","https://openalex.org/W1984598383","https://openalex.org/W1991722338","https://openalex.org/W2002282487","https://openalex.org/W2054130451","https://openalex.org/W2073924944","https://openalex.org/W2083483041","https://openalex.org/W2095936905","https://openalex.org/W2103924815","https://openalex.org/W2106476106","https://openalex.org/W2116836830","https://openalex.org/W2139918746","https://openalex.org/W2145068019","https://openalex.org/W2149754607","https://openalex.org/W2150410490","https://openalex.org/W2150531296","https://openalex.org/W2156466456","https://openalex.org/W2163502329","https://openalex.org/W2168108948","https://openalex.org/W2321368505","https://openalex.org/W3142707146","https://openalex.org/W3150997492","https://openalex.org/W3215393340"],"related_works":["https://openalex.org/W2357657342","https://openalex.org/W2153432761","https://openalex.org/W2152623100","https://openalex.org/W2142042635","https://openalex.org/W1988127757","https://openalex.org/W2130594209","https://openalex.org/W2374850085","https://openalex.org/W2359220965","https://openalex.org/W2742370181","https://openalex.org/W2384079587"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1,30],"paper":[2],"develops":[3],"a":[4,10,17,34,47,105],"controller":[5,25],"for":[6,16,38,112],"position":[7],"tracking":[8],"of":[9,70,75,123],"new":[11],"ball":[12,55,77],"wheel":[13,56,78],"drive":[14,73,89],"mechanism":[15,57,79],"robust":[18],"omnidirectional":[19],"wheeled":[20],"mobile":[21],"platform,":[22,31],"an":[23],"adaptive":[24],"with":[26,33],"physical":[27],"parameter":[28],"estimation.":[29],"integrated":[32],"manipulator,":[35],"is":[36,46,80,102],"designed":[37],"use":[39],"in":[40,60],"highway":[41],"maintenance":[42],"and":[43,50,67,91,117],"construction,":[44],"which":[45],"generally":[48],"unstructured":[49],"congested":[51],"environment.":[52],"The":[53,99],"proposed":[54],"can":[58],"move":[59],"all":[61],"directions":[62],"on":[63,95],"the":[64,71,76,84,88,92,121,124],"plane,":[65],"instantaneously":[66],"isotropically.":[68],"Reconfiguration":[69],"redundant":[72],"system":[74,100],"accomplished":[81],"by":[82],"altering":[83],"contact":[85],"pressure":[86],"between":[87],"wheels":[90],"sphere":[93],"based":[94],"platform":[96],"heading":[97],"direction.":[98],"redundancy":[101],"resolved":[103],"through":[104],"Weighted":[106],"Optimal":[107],"Torque":[108],"Distribution":[109],"method":[110],"allowing":[111],"smooth":[113],"reconfiguration.":[114],"Finally,":[115],"experimental":[116],"simulation":[118],"results":[119],"demonstrate":[120],"effectiveness":[122],"approach.":[125]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
