{"id":"https://openalex.org/W2112923952","doi":"https://doi.org/10.1109/iros.2009.5354113","title":"The surface walker: a hemispherical mobile robot with rolling contact constraints","display_name":"The surface walker: a hemispherical mobile robot with rolling contact constraints","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2112923952","doi":"https://doi.org/10.1109/iros.2009.5354113","mag":"2112923952"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354113","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354113","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5029318565","display_name":"Masato Ishikawa","orcid":"https://orcid.org/0000-0003-3652-196X"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Masato Ishikawa","raw_affiliation_strings":["Department of Systems Science, Graduate School of Informatics, Kyoto university, Kyoto, Japan","Dept. of Systems Science, Graduate School of Informatics, Kyoto University, 611-0011, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Systems Science, Graduate School of Informatics, Kyoto university, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]},{"raw_affiliation_string":"Dept. of Systems Science, Graduate School of Informatics, Kyoto University, 611-0011, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065696565","display_name":"Yoshinori Kobayashi","orcid":"https://orcid.org/0000-0002-6034-2374"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshinori Kobayashi","raw_affiliation_strings":["Department of Systems Science, Graduate School of Informatics, Kyoto university, Kyoto, Japan","Dept. of Systems Science, Graduate School of Informatics, Kyoto University, 611-0011, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Systems Science, Graduate School of Informatics, Kyoto university, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]},{"raw_affiliation_string":"Dept. of Systems Science, Graduate School of Informatics, Kyoto University, 611-0011, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080319337","display_name":"Ryohei Kitayoshi","orcid":"https://orcid.org/0000-0002-5625-905X"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryohei Kitayoshi","raw_affiliation_strings":["Department of Systems Science, Graduate School of Informatics, Kyoto university, Kyoto, Japan","Dept. of Systems Science, Graduate School of Informatics, Kyoto University, 611-0011, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Systems Science, Graduate School of Informatics, Kyoto university, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]},{"raw_affiliation_string":"Dept. of Systems Science, Graduate School of Informatics, Kyoto University, 611-0011, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011600081","display_name":"Toshiharu Sugie","orcid":"https://orcid.org/0000-0002-6100-5222"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshiharu Sugie","raw_affiliation_strings":["Department of Systems Science, Graduate School of Informatics, Kyoto university, Kyoto, Japan","Dept. of Systems Science, Graduate School of Informatics, Kyoto University, 611-0011, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Systems Science, Graduate School of Informatics, Kyoto university, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]},{"raw_affiliation_string":"Dept. of Systems Science, Graduate School of Informatics, Kyoto University, 611-0011, Japan","institution_ids":["https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5029318565"],"corresponding_institution_ids":["https://openalex.org/I22299242"],"apc_list":null,"apc_paid":null,"fwci":2.2963,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.89739334,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2446","last_page":"2451"},"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":0.9998000264167786,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","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/T10879","display_name":"Robotic Locomotion and Control","score":0.9988999962806702,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7853741645812988},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6890672445297241},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.6164258718490601},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.5969554781913757},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5377516746520996},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5315741300582886},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.4903435707092285},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4810898005962372},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4720773696899414},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.4321792423725128},{"id":"https://openalex.org/keywords/holonomic-constraints","display_name":"Holonomic constraints","score":0.42483603954315186},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4164081811904907},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39129123091697693},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35819169878959656},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32268375158309937},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.29130426049232483},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25382471084594727},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.19041109085083008},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.17211666703224182},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1575203239917755},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08052539825439453}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7853741645812988},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6890672445297241},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6164258718490601},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.5969554781913757},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5377516746520996},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5315741300582886},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.4903435707092285},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4810898005962372},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4720773696899414},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.4321792423725128},{"id":"https://openalex.org/C116721078","wikidata":"https://www.wikidata.org/wiki/Q1048005","display_name":"Holonomic constraints","level":2,"score":0.42483603954315186},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4164081811904907},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39129123091697693},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35819169878959656},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32268375158309937},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.29130426049232483},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25382471084594727},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.19041109085083008},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.17211666703224182},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1575203239917755},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08052539825439453},{"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/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/iros.2009.5354113","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354113","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W2037026590","https://openalex.org/W2101712652","https://openalex.org/W2123234393","https://openalex.org/W2128055208","https://openalex.org/W2133361850","https://openalex.org/W2154384511","https://openalex.org/W2160864841"],"related_works":["https://openalex.org/W2154502479","https://openalex.org/W2127776540","https://openalex.org/W2365582959","https://openalex.org/W2717412651","https://openalex.org/W2363850121","https://openalex.org/W2147349727","https://openalex.org/W2007583701","https://openalex.org/W2056060483","https://openalex.org/W876576717","https://openalex.org/W3114630707"],"abstract_inverted_index":{"In":[0],"this":[1,88],"paper,":[2],"we":[3,13,73,91],"propose":[4],"a":[5,23,27,51],"new":[6],"example":[7],"of":[8,22,44,53,68,87,96],"non-holonomic":[9,54],"mobile":[10],"robot,":[11],"which":[12,56,77],"call":[14],"the":[15,36,41,45,48,61,66,69,78,84,93,97,102],"surface":[16,43],"walker.":[17],"This":[18],"robot":[19,46,80,98],"is":[20],"composed":[21],"hemisphere-shaped":[24],"shell":[25],"and":[26,34,47,82,105],"2-d.o.f.":[28],"mass-control":[29],"device":[30],"(pendulum)":[31],"inside":[32],"it,":[33],"undergoes":[35],"rolling":[37],"contact":[38],"constraint":[39],"between":[40],"hemispherical":[42],"ground.":[49],"Unlike":[50],"lot":[52],"robots":[55],"have":[57],"ever":[58],"been":[59],"researched,":[60],"drift":[62],"term":[63],"exists":[64],"in":[65],"system":[67],"hemisphere":[70,79],"robot.":[71,89],"First,":[72],"show":[74,106],"basic":[75],"concepts":[76],"has,":[81],"construct":[83],"kinetic":[85],"model":[86],"Then":[90],"realize":[92],"locomotion":[94],"control":[95,110],"by":[99,109],"periodically":[100],"oscillating":[101],"internal":[103],"pendulum":[104],"its":[107],"effectiveness":[108],"experiments.":[111]},"counts_by_year":[{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}