{"id":"https://openalex.org/W1544277262","doi":"https://doi.org/10.1109/icra.2015.7139385","title":"Case study in non-prehensile manipulation: planning and orbital stabilization of one-directional rollings for the \u201cButterfly\u201d robot","display_name":"Case study in non-prehensile manipulation: planning and orbital stabilization of one-directional rollings for the \u201cButterfly\u201d robot","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1544277262","doi":"https://doi.org/10.1109/icra.2015.7139385","mag":"1544277262"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139385","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139385","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/A5022442229","display_name":"Maksim O. Surov","orcid":"https://orcid.org/0000-0002-1165-2296"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Maksim Surov","raw_affiliation_strings":["JSC Educational Robotics, St. Petersburg, Russia"],"affiliations":[{"raw_affiliation_string":"JSC Educational Robotics, St. Petersburg, Russia","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044859972","display_name":"Anton Shiriaev","orcid":"https://orcid.org/0000-0002-9404-6442"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Anton Shiriaev","raw_affiliation_strings":["Department of Engineering Cybernetics, NTNU, Trondheim, Norway","Dept. of Engineering, Cybernetics, NTNU, Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Cybernetics, NTNU, Trondheim, Norway","institution_ids":[]},{"raw_affiliation_string":"Dept. of Engineering, Cybernetics, NTNU, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042747240","display_name":"Leonid B. Freidovich","orcid":"https://orcid.org/0000-0003-0730-9441"},"institutions":[{"id":"https://openalex.org/I90267481","display_name":"Ume\u00e5 University","ror":"https://ror.org/05kb8h459","country_code":"SE","type":"education","lineage":["https://openalex.org/I90267481"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Leonid Freidovich","raw_affiliation_strings":["Department of Applied Physics and Electronics, Umea University, Sweden","Department of Applied Physics and Electronics, Ume\u00e5 University, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Applied Physics and Electronics, Umea University, Sweden","institution_ids":["https://openalex.org/I90267481"]},{"raw_affiliation_string":"Department of Applied Physics and Electronics, Ume\u00e5 University, Sweden","institution_ids":["https://openalex.org/I90267481"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059460081","display_name":"Sergei V. Gusev","orcid":"https://orcid.org/0000-0001-7384-7892"},"institutions":[{"id":"https://openalex.org/I172901346","display_name":"St Petersburg University","ror":"https://ror.org/023znxa73","country_code":"RU","type":"education","lineage":["https://openalex.org/I172901346"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Sergei Gusev","raw_affiliation_strings":["Department of General Mathematics and Informatics, St. Petersburg State University, Russia"],"affiliations":[{"raw_affiliation_string":"Department of General Mathematics and Informatics, St. Petersburg State University, Russia","institution_ids":["https://openalex.org/I172901346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026590393","display_name":"Leonid Paramonov","orcid":null},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Leonid Paramonov","raw_affiliation_strings":["Department of Engineering Cybernetics, NTNU, Trondheim, Norway","Dept. of Engineering, Cybernetics, NTNU, Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Cybernetics, NTNU, Trondheim, Norway","institution_ids":[]},{"raw_affiliation_string":"Dept. of Engineering, Cybernetics, NTNU, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5022442229"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.0392,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.87362817,"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":"1484","last_page":"1489"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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/T10653","display_name":"Robot Manipulation and Learning","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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"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/underactuation","display_name":"Underactuation","score":0.667481541633606},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6125075221061707},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5473296046257019},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5230777859687805},{"id":"https://openalex.org/keywords/butterfly","display_name":"Butterfly","score":0.47982263565063477},{"id":"https://openalex.org/keywords/prehensile-tail","display_name":"Prehensile tail","score":0.4640236496925354},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4627179503440857},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.458438903093338},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38002485036849976},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34988322854042053},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3433082103729248},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33641132712364197},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32953476905822754},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15119856595993042},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.07503628730773926}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.667481541633606},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6125075221061707},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5473296046257019},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5230777859687805},{"id":"https://openalex.org/C2778605236","wikidata":"https://www.wikidata.org/wiki/Q1018085","display_name":"Butterfly","level":2,"score":0.47982263565063477},{"id":"https://openalex.org/C136380597","wikidata":"https://www.wikidata.org/wiki/Q10508905","display_name":"Prehensile tail","level":2,"score":0.4640236496925354},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4627179503440857},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.458438903093338},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38002485036849976},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34988322854042053},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3433082103729248},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33641132712364197},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32953476905822754},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15119856595993042},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.07503628730773926},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139385","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139385","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":[{"id":"https://metadata.un.org/sdg/11","score":0.4399999976158142,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1516079644","https://openalex.org/W1976935191","https://openalex.org/W2045887718","https://openalex.org/W2064259637","https://openalex.org/W2120325997","https://openalex.org/W2132347660","https://openalex.org/W2133582863","https://openalex.org/W2167664500","https://openalex.org/W4230616527","https://openalex.org/W6630725436"],"related_works":["https://openalex.org/W2465876097","https://openalex.org/W2028231052","https://openalex.org/W2768832826","https://openalex.org/W3166169123","https://openalex.org/W2010045274","https://openalex.org/W2552641899","https://openalex.org/W2105329304","https://openalex.org/W2998125923","https://openalex.org/W197901881","https://openalex.org/W1551001629"],"abstract_inverted_index":{"We":[0],"approach":[1],"a":[2,10,22,41,72],"problem":[3],"of":[4,36,79],"motion":[5,53],"planning":[6,54],"and":[7,55,75],"stabilization":[8],"for":[9,25,29],"benchmark":[11,23],"example,":[12],"known":[13,50],"as":[14,21,51],"the":[15,37,64,67,80],"\u201cButterfly\u201d":[16],"robot.":[17],"It":[18],"was":[19],"proposed":[20,48],"challenge":[24],"developing":[26],"systematic":[27],"techniques":[28],"nonprehensile":[30],"rolling":[31],"manipulation.":[32],"A":[33],"dynamical":[34],"model":[35],"underactuated":[38],"system":[39],"with":[40],"non-unilateral":[42],"contact":[43],"is":[44,69],"derived.":[45],"The":[46],"recently":[47],"methodologies,":[49],"virtual-holonomic-constraints-based":[52],"transverse-linearization-based":[56],"orbital":[57],"stabilization,":[58],"are":[59],"appropriately":[60],"extended":[61],"to":[62],"suit":[63],"task.":[65],"Finally,":[66],"feasibility":[68],"demonstrated":[70],"through":[71],"hardware":[73],"implementation":[74],"an":[76],"experimental":[77],"validation":[78],"concept.":[81]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2026-03-04T07:04:00.330322","created_date":"2025-10-10T00:00:00"}
