{"id":"https://openalex.org/W4386160058","doi":"https://doi.org/10.1109/icarm58088.2023.10218907","title":"Design and Control of a Spherical Robot Using Pendulum and Momentum Wheels","display_name":"Design and Control of a Spherical Robot Using Pendulum and Momentum Wheels","publication_year":2023,"publication_date":"2023-07-08","ids":{"openalex":"https://openalex.org/W4386160058","doi":"https://doi.org/10.1109/icarm58088.2023.10218907"},"language":"en","primary_location":{"id":"doi:10.1109/icarm58088.2023.10218907","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm58088.2023.10218907","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-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/A5054593346","display_name":"Zhicheng Yuan","orcid":"https://orcid.org/0000-0001-8599-8743"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhicheng Yuan","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050003106","display_name":"Xuechao Chen","orcid":"https://orcid.org/0000-0003-1136-3053"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuechao Chen","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102887247","display_name":"Jiahao Wu","orcid":"https://orcid.org/0000-0003-2053-562X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahao Wu","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072191452","display_name":"Siyu Ren","orcid":"https://orcid.org/0000-0002-0369-1519"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siyu Ren","raw_affiliation_strings":["School of Optics and Photonics, Beijing Institute of Technology,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"School of Optics and Photonics, Beijing Institute of Technology,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083887889","display_name":"Zhangguo Yu","orcid":"https://orcid.org/0000-0003-0041-8100"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhangguo Yu","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5054593346"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.5862,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.66527599,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"522","last_page":"527"},"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":0.9991000294685364,"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":0.9991000294685364,"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":0.9962999820709229,"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":0.98089998960495,"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/inverted-pendulum","display_name":"Inverted pendulum","score":0.7919259071350098},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6711271405220032},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6512337923049927},{"id":"https://openalex.org/keywords/double-pendulum","display_name":"Double pendulum","score":0.6033835411071777},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.5793527364730835},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5784928202629089},{"id":"https://openalex.org/keywords/momentum","display_name":"Momentum (technical analysis)","score":0.561112642288208},{"id":"https://openalex.org/keywords/furuta-pendulum","display_name":"Furuta pendulum","score":0.5350697040557861},{"id":"https://openalex.org/keywords/reaction-wheel","display_name":"Reaction wheel","score":0.4688851535320282},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4617246985435486},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44837838411331177},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.41159144043922424},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3730321228504181},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36553630232810974},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2888268232345581},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.2112828493118286},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.18827179074287415},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11442482471466064}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.7919259071350098},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6711271405220032},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6512337923049927},{"id":"https://openalex.org/C167183279","wikidata":"https://www.wikidata.org/wiki/Q1243208","display_name":"Double pendulum","level":4,"score":0.6033835411071777},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.5793527364730835},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5784928202629089},{"id":"https://openalex.org/C60718061","wikidata":"https://www.wikidata.org/wiki/Q1414747","display_name":"Momentum (technical analysis)","level":2,"score":0.561112642288208},{"id":"https://openalex.org/C191601290","wikidata":"https://www.wikidata.org/wiki/Q5509824","display_name":"Furuta pendulum","level":5,"score":0.5350697040557861},{"id":"https://openalex.org/C206245727","wikidata":"https://www.wikidata.org/wiki/Q2457049","display_name":"Reaction wheel","level":3,"score":0.4688851535320282},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4617246985435486},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44837838411331177},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.41159144043922424},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3730321228504181},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36553630232810974},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2888268232345581},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.2112828493118286},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.18827179074287415},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11442482471466064},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm58088.2023.10218907","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm58088.2023.10218907","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1485017635","https://openalex.org/W2002174638","https://openalex.org/W2003063822","https://openalex.org/W2021446769","https://openalex.org/W2072225778","https://openalex.org/W2123234393","https://openalex.org/W2148583792","https://openalex.org/W2187200052","https://openalex.org/W3044162680","https://openalex.org/W3132217834","https://openalex.org/W3138796922","https://openalex.org/W3188858176","https://openalex.org/W3207311111","https://openalex.org/W4211161699"],"related_works":["https://openalex.org/W3216306759","https://openalex.org/W2072662323","https://openalex.org/W2149145472","https://openalex.org/W2185666822","https://openalex.org/W3090237748","https://openalex.org/W2655681456","https://openalex.org/W2605534565","https://openalex.org/W4300467530","https://openalex.org/W2041698009","https://openalex.org/W2949841909"],"abstract_inverted_index":{"Spherical":[0],"robot":[1],"has":[2],"good":[3],"potential":[4],"for":[5],"complex":[6],"environment":[7],"adaptation,":[8],"but":[9],"the":[10,50,69],"single":[11],"internal":[12],"driving":[13,26,58,73],"principle":[14,27,74],"limits":[15],"its":[16],"multifaceted":[17],"performance.":[18],"In":[19],"this":[20,57,72],"paper,":[21],"we":[22,61],"present":[23],"a":[24,54],"composite":[25],"which":[28],"uses":[29],"pendulum":[30],"and":[31,40,53,65],"momentum":[32],"wheels.":[33],"The":[34],"abilities":[35],"to":[36,67],"change":[37],"motion":[38],"state":[39],"surmount":[41],"obstacles":[42],"have":[43],"been":[44],"improved.":[45],"This":[46],"article":[47],"also":[48],"contains":[49],"dynamic":[51],"analysis":[52],"controller":[55],"of":[56,71],"principle.":[59],"Finally,":[60],"implement":[62],"necessary":[63],"simulations":[64],"experiments":[66],"prove":[68],"performance":[70],"in":[75],"both":[76],"aspects.":[77]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}