{"id":"https://openalex.org/W2221843283","doi":"https://doi.org/10.1109/iros.2015.7353949","title":"Motion planning for a pendulum-driven rolling robot tracing spherical contact curves","display_name":"Motion planning for a pendulum-driven rolling robot tracing spherical contact curves","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2221843283","doi":"https://doi.org/10.1109/iros.2015.7353949","mag":"2221843283"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353949","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353949","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/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"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Faculty of Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","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":false,"raw_author_name":"Mikhail Svinin","raw_affiliation_strings":["Mechanical Engineering Department, Faculty of Engineering, Kyushu University, Fukuoka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Faculty of Engineering, Kyushu University, Fukuoka, 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"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Faculty of Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I135598925"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"4364","issue":null,"first_page":"4053","last_page":"4058"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9984999895095825,"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":0.9930999875068665,"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":0.6544404625892639},{"id":"https://openalex.org/keywords/tracing","display_name":"Tracing","score":0.5982120037078857},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4877072274684906},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48440128564834595},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.47262832522392273},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46706634759902954},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.458219438791275},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45228904485702515},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3094238042831421},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22909295558929443},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1950991153717041},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11982288956642151},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1139712929725647}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6544404625892639},{"id":"https://openalex.org/C138673069","wikidata":"https://www.wikidata.org/wiki/Q322229","display_name":"Tracing","level":2,"score":0.5982120037078857},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4877072274684906},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48440128564834595},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.47262832522392273},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46706634759902954},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.458219438791275},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45228904485702515},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3094238042831421},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22909295558929443},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1950991153717041},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11982288956642151},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1139712929725647},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7353949","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353949","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1524747501","https://openalex.org/W1564897360","https://openalex.org/W1965574399","https://openalex.org/W1972860492","https://openalex.org/W2002174638","https://openalex.org/W2021446769","https://openalex.org/W2025090648","https://openalex.org/W2033274277","https://openalex.org/W2036970490","https://openalex.org/W2037026590","https://openalex.org/W2040591779","https://openalex.org/W2045243672","https://openalex.org/W2101196304","https://openalex.org/W2101885191","https://openalex.org/W2102642497","https://openalex.org/W2107246116","https://openalex.org/W2111338039","https://openalex.org/W2112923952","https://openalex.org/W2113521722","https://openalex.org/W2123234393","https://openalex.org/W2129924563","https://openalex.org/W2130717809","https://openalex.org/W2133953042","https://openalex.org/W2145401835","https://openalex.org/W2149092343","https://openalex.org/W2154384511","https://openalex.org/W2159538059","https://openalex.org/W2160864841","https://openalex.org/W2165628888","https://openalex.org/W2182949491","https://openalex.org/W2252322527","https://openalex.org/W2574576164","https://openalex.org/W4285719527","https://openalex.org/W6675886962","https://openalex.org/W6677112187","https://openalex.org/W6685723156","https://openalex.org/W6691556693"],"related_works":["https://openalex.org/W962423920","https://openalex.org/W2387968248","https://openalex.org/W2120821724","https://openalex.org/W2350715914","https://openalex.org/W2101175215","https://openalex.org/W2379529020","https://openalex.org/W2893549521","https://openalex.org/W2352322616","https://openalex.org/W2574438335","https://openalex.org/W4226311653"],"abstract_inverted_index":{"This":[0],"paper":[1],"deals":[2],"with":[3],"motion":[4,71],"planning":[5],"problems":[6],"for":[7,23,64,82],"spherical":[8],"rolling":[9,43],"robots":[10],"driven":[11],"by":[12,51],"a":[13],"two":[14],"degree":[15],"of":[16],"freedom":[17],"pendulum.":[18],"A":[19,55],"full":[20,46],"dynamic":[21,47],"model":[22,48],"this":[24],"system":[25],"is":[26,35,49,72,78],"first":[27],"introduced.":[28],"Then,":[29],"assuming":[30],"that":[31],"the":[32,38,45,61,66,87,90],"contact":[33,67],"path":[34],"specified":[36],"and":[37,86],"sphere":[39],"moves":[40],"in":[41,69],"pure":[42],"mode,":[44],"reduced":[50],"imposing":[52],"virtual":[53],"constraints.":[54],"timing":[56],"control":[57,76],"law,":[58],"based":[59],"on":[60,89],"Beta":[62],"function,":[63],"tracing":[65,83],"curves":[68],"rest-to-rest":[70],"constructed.":[73],"The":[74],"constructed":[75],"law":[77],"verified":[79],"under":[80],"simulation":[81],"Viviani's":[84],"curve":[85],"Loxodrome":[88],"sphere.":[91]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
