{"id":"https://openalex.org/W2040591779","doi":"https://doi.org/10.1017/s0263574711000956","title":"Modeling and control of a spherical rolling robot: a decoupled dynamics approach","display_name":"Modeling and control of a spherical rolling robot: a decoupled dynamics approach","publication_year":2011,"publication_date":"2011-08-08","ids":{"openalex":"https://openalex.org/W2040591779","doi":"https://doi.org/10.1017/s0263574711000956","mag":"2040591779"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574711000956","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574711000956","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":true,"oa_status":"green","oa_url":"https://lirias.kuleuven.be/bitstream/123456789/316713/4/Modelling%20and%20control%20of%20rolling%20robot_Kayacan_published.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060508527","display_name":"Erkan Kayacan","orcid":"https://orcid.org/0000-0002-4618-7515"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Erkan Kayacan","raw_affiliation_strings":[">biosyst-mebios, faculty of bioscience engineering, ku leuven, kasteelpark arenberg 30, b-3001 leuven, belgium. e-mail: wouter.saeys@biw.kuleuven.be#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":">biosyst-mebios, faculty of bioscience engineering, ku leuven, kasteelpark arenberg 30, b-3001 leuven, belgium. e-mail: wouter.saeys@biw.kuleuven.be#TAB#","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076994342","display_name":"Zeki Y. Bayraktaroglu","orcid":"https://orcid.org/0000-0001-5539-9504"},"institutions":[{"id":"https://openalex.org/I48912391","display_name":"Istanbul Technical University","ror":"https://ror.org/059636586","country_code":"TR","type":"education","lineage":["https://openalex.org/I48912391"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Zeki Y. Bayraktaroglu","raw_affiliation_strings":["\u2021Department of Mechanical Engineering, Istanbul Technical University, 34437 Istanbul, Turkey. E-mail: zeki.bayraktaroglu@itu.edu.tr"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u2021Department of Mechanical Engineering, Istanbul Technical University, 34437 Istanbul, Turkey. E-mail: zeki.bayraktaroglu@itu.edu.tr","institution_ids":["https://openalex.org/I48912391"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046206126","display_name":"Wouter Saeys","orcid":"https://orcid.org/0000-0002-5849-4301"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Wouter Saeys","raw_affiliation_strings":[">biosyst-mebios, faculty of bioscience engineering, ku leuven, kasteelpark arenberg 30, b-3001 leuven, belgium. e-mail: wouter.saeys@biw.kuleuven.be#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":">biosyst-mebios, faculty of bioscience engineering, ku leuven, kasteelpark arenberg 30, b-3001 leuven, belgium. e-mail: wouter.saeys@biw.kuleuven.be#TAB#","institution_ids":["https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":11.7253,"has_fulltext":false,"cited_by_count":109,"citation_normalized_percentile":{"value":0.98379662,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"30","issue":"4","first_page":"671","last_page":"680"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9943000078201294,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9825999736785889,"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/control-theory","display_name":"Control theory (sociology)","score":0.7080948948860168},{"id":"https://openalex.org/keywords/curvilinear-coordinates","display_name":"Curvilinear coordinates","score":0.6262788772583008},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5782228112220764},{"id":"https://openalex.org/keywords/double-pendulum","display_name":"Double pendulum","score":0.5700060129165649},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5187106728553772},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.4712570011615753},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.4405277967453003},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.4288235902786255},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.4159730076789856},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.3976907730102539},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3525676727294922},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.35082876682281494},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3403064012527466},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.33105236291885376},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2758336663246155},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1393912136554718},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10895735025405884},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10223057866096497}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7080948948860168},{"id":"https://openalex.org/C98343798","wikidata":"https://www.wikidata.org/wiki/Q1790208","display_name":"Curvilinear coordinates","level":2,"score":0.6262788772583008},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5782228112220764},{"id":"https://openalex.org/C167183279","wikidata":"https://www.wikidata.org/wiki/Q1243208","display_name":"Double pendulum","level":4,"score":0.5700060129165649},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5187106728553772},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.4712570011615753},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.4405277967453003},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.4288235902786255},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.4159730076789856},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.3976907730102539},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3525676727294922},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.35082876682281494},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3403064012527466},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.33105236291885376},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2758336663246155},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1393912136554718},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10895735025405884},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10223057866096497},{"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/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1017/s0263574711000956","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574711000956","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"},{"id":"pmh:oai:espace.library.uq.edu.au:UQ:1b718d4","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402388","display_name":"Queensland's institutional digital repository (The University of Queensland)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I165143802","host_organization_name":"The University of Queensland","host_organization_lineage":["https://openalex.org/I165143802"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},{"id":"pmh:oai:lirias2repo.kuleuven.be:123456789/316713","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/bitstream/123456789/316713/4/Modelling%20and%20control%20of%20rolling%20robot_Kayacan_published.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotica, vol. 30 (4), (671-680)","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:polen.itu.edu.tr:11527/55666","is_oa":false,"landing_page_url":"https://hdl.handle.net/11527/55666","pdf_url":null,"source":{"id":"https://openalex.org/S4306400460","display_name":"Istanbul Technical University Academic Open Archive (Istanbul Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I48912391","host_organization_name":"Istanbul Technical University","host_organization_lineage":["https://openalex.org/I48912391"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:lirias2repo.kuleuven.be:123456789/316713","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/bitstream/123456789/316713/4/Modelling%20and%20control%20of%20rolling%20robot_Kayacan_published.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotica, vol. 30 (4), (671-680)","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.4399999976158142,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W774034202","https://openalex.org/W861161783","https://openalex.org/W1500428252","https://openalex.org/W1516626887","https://openalex.org/W1615940495","https://openalex.org/W1884897403","https://openalex.org/W1993300073","https://openalex.org/W1995060319","https://openalex.org/W2002174638","https://openalex.org/W2035569726","https://openalex.org/W2037026590","https://openalex.org/W2049644464","https://openalex.org/W2074362921","https://openalex.org/W2082772272","https://openalex.org/W2095917769","https://openalex.org/W2096276062","https://openalex.org/W2106979901","https://openalex.org/W2111338039","https://openalex.org/W2115643799","https://openalex.org/W2118679978","https://openalex.org/W2123234393","https://openalex.org/W2128055208","https://openalex.org/W2152193124","https://openalex.org/W2165628888","https://openalex.org/W2425705514","https://openalex.org/W2483537127","https://openalex.org/W2528449003","https://openalex.org/W2529217187","https://openalex.org/W2530230564","https://openalex.org/W2623660146","https://openalex.org/W2952212527","https://openalex.org/W4236573885","https://openalex.org/W4243504623","https://openalex.org/W4365799809","https://openalex.org/W6678959250"],"related_works":["https://openalex.org/W2612646280","https://openalex.org/W1963494060","https://openalex.org/W2008084614","https://openalex.org/W2366496871","https://openalex.org/W2041698009","https://openalex.org/W1988157353","https://openalex.org/W2149145472","https://openalex.org/W2669735925","https://openalex.org/W3090237748","https://openalex.org/W3216306759"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"paper":[2],"presents":[3],"the":[4,10,39,47,53,62,67,86,101,104,109,122],"results":[5],"of":[6,16,25,46,61,75,103,108,131,133],"a":[7,17,26,31],"study":[8],"on":[9,66],"dynamical":[11,125],"modeling,":[12],"analysis,":[13],"and":[14,41,71,114,127],"control":[15,102],"spherical":[18,32],"rolling":[19,22],"robot.":[20],"The":[21,44],"mechanism":[23,111],"consists":[24],"2-DOF":[27],"pendulum":[28],"located":[29],"inside":[30],"shell":[33],"with":[34,56,94],"freedom":[35],"to":[36],"rotate":[37],"about":[38],"transverse":[40],"longitudinal":[42],"axis.":[43],"kinematics":[45],"model":[48,126],"has":[49,97,117,138],"been":[50,79,98,118,140],"investigated":[51],"through":[52,85],"classical":[54],"methods":[55],"rotation":[57],"matrices.":[58],"Dynamic":[59],"modeling":[60],"system":[63],"is":[64],"based":[65],"Euler\u2013Lagrange":[68],"formalism.":[69],"Nonholonomic":[70],"highly":[72],"nonlinear":[73],"equations":[74],"motion":[76],"have":[77],"then":[78],"decomposed":[80],"into":[81],"two":[82],"simpler":[83],"subsystems":[84],"decoupled":[87,105,124],"dynamics":[88],"approach.":[89],"A":[90],"feedback":[91,128],"linearization":[92],"loop":[93],"fuzzy":[95],"controllers":[96],"designed":[99],"for":[100],"dynamics.":[106],"Rolling":[107],"controlled":[110],"over":[112,135],"linear":[113],"curvilinear":[115,136],"trajectories":[116,137],"simulated":[119],"by":[120],"using":[121],"proposed":[123],"controllers.":[129],"Analysis":[130],"radius":[132],"curvature":[134],"also":[139],"investigated.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":18},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":11},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}