{"id":"https://openalex.org/W4405785273","doi":"https://doi.org/10.1109/iros58592.2024.10802231","title":"Enhanced Omni-Ball: Spherical Omnidirectional Wheel Achieving Passive Rollers with High Load Capacity and Smoothness through an Offset Rotational Axis","display_name":"Enhanced Omni-Ball: Spherical Omnidirectional Wheel Achieving Passive Rollers with High Load Capacity and Smoothness through an Offset Rotational Axis","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785273","doi":"https://doi.org/10.1109/iros58592.2024.10802231"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802231","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802231","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5016736580","display_name":"Kenjiro Tadakuma","orcid":"https://orcid.org/0000-0003-2035-0617"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenjiro Tadakuma","raw_affiliation_strings":["Osaka University,Graduate School of Engineering Science,Osaka,Japan,560-8531"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Osaka University,Graduate School of Engineering Science,Osaka,Japan,560-8531","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065974014","display_name":"Seiji SAKIYAMA","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Seiji Sakiyama","raw_affiliation_strings":["Tohoku University,Graduate School of Information Sciences"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tohoku University,Graduate School of Information Sciences","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029091541","display_name":"Eri TAKANE","orcid":"https://orcid.org/0000-0002-4009-5361"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Eri Takane","raw_affiliation_strings":["Tohoku University,Graduate School of Information Sciences"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tohoku University,Graduate School of Information Sciences","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037772320","display_name":"Riichiro Tadakuma","orcid":"https://orcid.org/0000-0002-5676-2376"},"institutions":[{"id":"https://openalex.org/I112524849","display_name":"Yamagata University","ror":"https://ror.org/00xy44n04","country_code":"JP","type":"education","lineage":["https://openalex.org/I112524849"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Riichiro Tadakuma","raw_affiliation_strings":["Yamagata University,Faculty of Engineering,Department of Mechanical Systems Engineering,Yamagata,Japan,992-8510"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yamagata University,Faculty of Engineering,Department of Mechanical Systems Engineering,Yamagata,Japan,992-8510","institution_ids":["https://openalex.org/I112524849"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014118063","display_name":"Satosh\u0131 Tadokoro","orcid":"https://orcid.org/0000-0002-5571-4276"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Tadokoro","raw_affiliation_strings":["Tohoku University,Graduate School of Information Sciences"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tohoku University,Graduate School of Information Sciences","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3589","last_page":"3596"},"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":0.9939000010490417,"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":0.9939000010490417,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9749000072479248,"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/T11602","display_name":"Magnetic Bearings and Levitation Dynamics","score":0.963100016117096,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.6947079300880432},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.6870620846748352},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.5507979989051819},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.4519999027252197},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3566516935825348},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.310234010219574},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.19700855016708374},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12849897146224976},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.10123839974403381}],"concepts":[{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.6947079300880432},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.6870620846748352},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.5507979989051819},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.4519999027252197},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3566516935825348},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.310234010219574},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.19700855016708374},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12849897146224976},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.10123839974403381},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802231","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802231","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.75}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1989925348","https://openalex.org/W2011090719","https://openalex.org/W2103609145","https://openalex.org/W2166825355","https://openalex.org/W2312978099","https://openalex.org/W2316008889","https://openalex.org/W2322425309","https://openalex.org/W2325296163","https://openalex.org/W3034580387","https://openalex.org/W4381894618"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2935759653","https://openalex.org/W3105167352","https://openalex.org/W54078636","https://openalex.org/W2954470139","https://openalex.org/W1501425562","https://openalex.org/W2902782467","https://openalex.org/W3084825885","https://openalex.org/W2298861036","https://openalex.org/W2271181815"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"an":[3,49],"innovation":[4],"of":[5,27],"the":[6,19,25,28,56],"Spherical":[7],"Omnidirectional":[8],"Wheel,":[9],"designed":[10],"to":[11],"achieve":[12],"omnidirectional":[13],"driving":[14],"motion.":[15],"In":[16],"previous":[17],"models,":[18],"supporting":[20],"shaft":[21],"was":[22,60,66],"placed":[23],"at":[24],"center":[26],"mechanism.":[29],"However,":[30],"achieving":[31],"both":[32],"smoothness":[33],"and":[34,62],"high":[35],"load-capacity":[36],"in":[37,45],"such":[38],"designs":[39],"proved":[40],"challenging.":[41],"The":[42],"mechanism":[43],"proposed":[44],"this":[46],"study":[47],"features":[48],"offset":[50],"design,":[51],"enabling":[52],"outer":[53],"support":[54],"for":[55],"wheel.":[57],"A":[58],"prototype":[59],"developed":[61],"its":[63],"basic":[64],"motion":[65],"experimentally":[67],"validated.":[68]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
