{"id":"https://openalex.org/W2785749527","doi":"https://doi.org/10.1109/iccis.2017.8274838","title":"De-coupled dynamics control of a spherical rolling robot for waypoint navigation","display_name":"De-coupled dynamics control of a spherical rolling robot for waypoint navigation","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2785749527","doi":"https://doi.org/10.1109/iccis.2017.8274838","mag":"2785749527"},"language":"en","primary_location":{"id":"doi:10.1109/iccis.2017.8274838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccis.2017.8274838","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)","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/A5101496456","display_name":"Van Duong Nguyen","orcid":"https://orcid.org/0000-0001-5105-8286"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Van Duong Nguyen","raw_affiliation_strings":["Temasek Laboratory, Singapore University of Technology and Design Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Temasek Laboratory, Singapore University of Technology and Design Singapore, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018044324","display_name":"Gim Song Soh","orcid":"https://orcid.org/0000-0002-0042-5151"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Gim Song Soh","raw_affiliation_strings":["Engineering Product Development, Singapore University of Technology and Design Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Product Development, Singapore University of Technology and Design Singapore, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021980751","display_name":"Shaohui Foong","orcid":"https://orcid.org/0000-0002-9724-6159"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shaohui Foong","raw_affiliation_strings":["Engineering Product Development, Singapore University of Technology and Design Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Product Development, Singapore University of Technology and Design Singapore, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033426375","display_name":"Kristin L. Wood","orcid":"https://orcid.org/0000-0002-0553-5528"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Kristin Wood","raw_affiliation_strings":["Engineering Product Development, Singapore University of Technology and Design Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Product Development, Singapore University of Technology and Design Singapore, Singapore","institution_ids":["https://openalex.org/I152815399"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6123,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.7205313,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"562","last_page":"567"},"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":0.9995999932289124,"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":0.9995999932289124,"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":0.9962000250816345,"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":0.9943000078201294,"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/waypoint","display_name":"Waypoint","score":0.9656699895858765},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7476562857627869},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6698694825172424},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6022580862045288},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5576782822608948},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5442225933074951},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4909206032752991},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.49087053537368774},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.48430195450782776},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.4438956081867218},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4314068555831909},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34564778208732605},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34269052743911743},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24843484163284302},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20248523354530334},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17467299103736877},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.1067022979259491}],"concepts":[{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.9656699895858765},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7476562857627869},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6698694825172424},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6022580862045288},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5576782822608948},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5442225933074951},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4909206032752991},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.49087053537368774},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48430195450782776},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.4438956081867218},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4314068555831909},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34564778208732605},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34269052743911743},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24843484163284302},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20248523354530334},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17467299103736877},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.1067022979259491},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iccis.2017.8274838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccis.2017.8274838","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320324110","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1490099585","https://openalex.org/W1516626887","https://openalex.org/W1964915436","https://openalex.org/W1968107169","https://openalex.org/W2002174638","https://openalex.org/W2007141417","https://openalex.org/W2008233398","https://openalex.org/W2009149587","https://openalex.org/W2010745100","https://openalex.org/W2036970490","https://openalex.org/W2040591779","https://openalex.org/W2045845898","https://openalex.org/W2072225778","https://openalex.org/W2111338039","https://openalex.org/W2115643799","https://openalex.org/W2123234393","https://openalex.org/W2128055208","https://openalex.org/W2130717809","https://openalex.org/W2302631455","https://openalex.org/W2536790887","https://openalex.org/W2738347052","https://openalex.org/W2753438705","https://openalex.org/W2765481719","https://openalex.org/W4243504623","https://openalex.org/W6630914618","https://openalex.org/W6660370720","https://openalex.org/W6745909455"],"related_works":["https://openalex.org/W2170322441","https://openalex.org/W1585087611","https://openalex.org/W2102546786","https://openalex.org/W3091498484","https://openalex.org/W2291700020","https://openalex.org/W2086863125","https://openalex.org/W3096187747","https://openalex.org/W3004220142","https://openalex.org/W2216521820","https://openalex.org/W1522691079"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"the":[3,45,74,100,107,110,115],"decoupled":[4],"control":[5,62,75],"of":[6,13,24,63,67,99,106,118],"a":[7,78],"non-holonomic":[8],"spherical":[9,27,111],"rolling":[10],"robot":[11,22,46,112],"capable":[12],"waypoint":[14,80],"navigation":[15],"over":[16],"planar":[17],"surfaces":[18],"is":[19],"investigated.":[20],"The":[21,89],"consists":[23],"an":[25,31,84],"external":[26],"shell":[28],"driven":[29],"by":[30],"internal":[32],"two-wheeled":[33],"differential":[34],"drive":[35],"cart":[36],"fused":[37],"with":[38,93],"odometry":[39],"and":[40,51,56,103],"IMU":[41],"sensors.":[42],"We":[43],"derived":[44],"dynamic":[47],"model":[48],"under":[49,60],"roll":[50],"spin":[52],"locomotion":[53],"using":[54,83],"Lagrangian,":[55],"studied":[57],"its":[58],"performance":[59,76],"independent":[61],"these":[64],"two":[65],"modes":[66],"locomotion.":[68],"Experiments":[69],"are":[70],"conducted":[71],"to":[72],"evaluate":[73],"on":[77],"rectangular":[79],"trajectory,":[81],"captured":[82],"optical":[85],"motion":[86],"capture":[87],"system.":[88],"result":[90],"showed":[91],"that":[92],"our":[94],"implemented":[95],"sliding":[96],"mode":[97],"controller":[98,105],"cart's":[101,108],"pitch":[102],"PD":[104],"yaw,":[109],"can":[113],"follow":[114],"desired":[116],"set":[117],"waypoints":[119],"effectively.":[120]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
