{"id":"https://openalex.org/W1524747501","doi":"https://doi.org/10.1109/icra.2015.7139249","title":"Dynamic model and motion planning for a pendulum-actuated spherical rolling robot","display_name":"Dynamic model and motion planning for a pendulum-actuated spherical rolling robot","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1524747501","doi":"https://doi.org/10.1109/icra.2015.7139249","mag":"1524747501"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139249","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139249","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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/A5073469455","display_name":"Mikhail Svinin","orcid":"https://orcid.org/0000-0003-2459-2250"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Mikhail Svinin","raw_affiliation_strings":["Mechanical Engineering Department, Faculty of Engineering, Kyushu University, Fukuoka, Japan","Mechanical Engineering Department, Faculty of Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka, 819-0395, Japan"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Faculty of Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]},{"raw_affiliation_string":"Mechanical Engineering Department, Faculty of Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka, 819-0395, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045548180","display_name":"Yang Bai","orcid":"https://orcid.org/0000-0003-1080-1939"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yang Bai","raw_affiliation_strings":["Mechanical Engineering Department, Faculty of Engineering, Kyushu University, Fukuoka, Japan","Mechanical Engineering Department, Faculty of Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka, 819-0395, Japan"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Faculty of Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]},{"raw_affiliation_string":"Mechanical Engineering Department, Faculty of Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka, 819-0395, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025547247","display_name":"Motoji Yamamoto","orcid":"https://orcid.org/0000-0003-0555-8399"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Motoji Yamamoto","raw_affiliation_strings":["Mechanical Engineering Department, Faculty of Engineering, Kyushu University, Fukuoka, Japan","Mechanical Engineering Department, Faculty of Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka, 819-0395, Japan"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Faculty of Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]},{"raw_affiliation_string":"Mechanical Engineering Department, Faculty of Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka, 819-0395, Japan","institution_ids":["https://openalex.org/I135598925"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5073469455"],"corresponding_institution_ids":["https://openalex.org/I135598925"],"apc_list":null,"apc_paid":null,"fwci":4.7125,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.94772666,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"656","last_page":"661"},"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":0.9993000030517578,"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":0.9993000030517578,"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":0.9830999970436096,"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":0.9319999814033508,"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/motion-planning","display_name":"Motion planning","score":0.7197450399398804},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6675228476524353},{"id":"https://openalex.org/keywords/geodesic","display_name":"Geodesic","score":0.5822272896766663},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5513116121292114},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.5429750084877014},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5331795811653137},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.5255338549613953},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5217905044555664},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5081532001495361},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.5032159686088562},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.502255916595459},{"id":"https://openalex.org/keywords/double-pendulum","display_name":"Double pendulum","score":0.4257693886756897},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4117189347743988},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.33051297068595886},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28722164034843445},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2478213608264923},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19378501176834106},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.18114960193634033},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1734374761581421},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1515016257762909},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.14674502611160278},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11821430921554565}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7197450399398804},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6675228476524353},{"id":"https://openalex.org/C165818556","wikidata":"https://www.wikidata.org/wiki/Q213488","display_name":"Geodesic","level":2,"score":0.5822272896766663},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5513116121292114},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.5429750084877014},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5331795811653137},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.5255338549613953},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5217905044555664},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5081532001495361},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.5032159686088562},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.502255916595459},{"id":"https://openalex.org/C167183279","wikidata":"https://www.wikidata.org/wiki/Q1243208","display_name":"Double pendulum","level":4,"score":0.4257693886756897},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4117189347743988},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.33051297068595886},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28722164034843445},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2478213608264923},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19378501176834106},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.18114960193634033},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1734374761581421},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1515016257762909},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.14674502611160278},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11821430921554565},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139249","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139249","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7699999809265137,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W48920821","https://openalex.org/W1517583229","https://openalex.org/W1564897360","https://openalex.org/W1574514837","https://openalex.org/W1965574399","https://openalex.org/W1996148864","https://openalex.org/W2021446769","https://openalex.org/W2034719434","https://openalex.org/W2037026590","https://openalex.org/W2040591779","https://openalex.org/W2045243672","https://openalex.org/W2045845898","https://openalex.org/W2070029915","https://openalex.org/W2101196304","https://openalex.org/W2101885191","https://openalex.org/W2102642497","https://openalex.org/W2111338039","https://openalex.org/W2112923952","https://openalex.org/W2123234393","https://openalex.org/W2129924563","https://openalex.org/W2133953042","https://openalex.org/W2151918200","https://openalex.org/W2154384511","https://openalex.org/W2159538059","https://openalex.org/W2165628888","https://openalex.org/W2182949491","https://openalex.org/W2252322527","https://openalex.org/W2574576164","https://openalex.org/W3217246742","https://openalex.org/W4231001098","https://openalex.org/W4232303308","https://openalex.org/W4245420852","https://openalex.org/W4285719527","https://openalex.org/W6685723156","https://openalex.org/W6691556693"],"related_works":["https://openalex.org/W2612646280","https://openalex.org/W1963494060","https://openalex.org/W1544534375","https://openalex.org/W2366496871","https://openalex.org/W2669735925","https://openalex.org/W2041698009","https://openalex.org/W2149145472","https://openalex.org/W2077649109","https://openalex.org/W3090237748","https://openalex.org/W3216306759"],"abstract_inverted_index":{"This":[0],"paper":[1],"deals":[2],"with":[3,14],"the":[4,26,39,50,54,58,75,101,104,115,119,123,135],"dynamics":[5],"and":[6,56,87,103,141],"motion":[7,68,121,136],"planning":[8,69,137],"for":[9,25,71],"a":[10,15,22,67,88,108],"spherical":[11,97],"rolling":[12,27,40,76],"robot":[13,28,77],"pendulum":[16],"actuated":[17],"by":[18],"two":[19,84,126],"motors.":[20],"First":[21],"dynamic":[23],"model":[24],"is":[29,48,78,92,111,139],"established.":[30],"In":[31],"general,":[32],"not":[33],"all":[34],"feasible":[35],"kinematic":[36],"trajectories":[37,52],"of":[38,74,83,106],"carrier":[41],"are":[42,60,129],"dynamically":[43],"realizable.":[44],"A":[45,131],"notable":[46],"exception":[47],"when":[49],"contact":[51],"on":[53,57,64,94],"sphere":[55],"plane":[59],"geodesic":[61,124],"lines.":[62],"Based":[63],"this":[65],"consideration,":[66],"strategy":[70,81],"complete":[72],"reconfiguration":[73],"proposed.":[79],"The":[80],"consists":[82],"trivial":[85],"movements":[86],"non-trivial":[89],"maneuver":[90],"that":[91],"based":[93],"tracing":[95],"multiple":[96],"triangles.":[98],"To":[99,113],"compute":[100],"sizes":[102],"number":[105],"triangles,":[107],"reachability":[109],"diagram":[110],"constructed.":[112],"define":[114],"control":[116],"torques":[117],"realizing":[118],"rest-to-rest":[120],"along":[122],"lines,":[125],"possible":[127],"approaches":[128],"suggested.":[130],"computational":[132],"algorithm,":[133],"implementing":[134],"strategy,":[138],"developed":[140],"verified":[142],"under":[143],"simulation.":[144]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
