{"id":"https://openalex.org/W2888287492","doi":"https://doi.org/10.1109/med.2018.8442769","title":"On the Experiments About the Nonprehensile Reconfiguration of a Rolling Sphere on a Plate","display_name":"On the Experiments About the Nonprehensile Reconfiguration of a Rolling Sphere on a Plate","publication_year":2018,"publication_date":"2018-06-01","ids":{"openalex":"https://openalex.org/W2888287492","doi":"https://doi.org/10.1109/med.2018.8442769","mag":"2888287492"},"language":"en","primary_location":{"id":"doi:10.1109/med.2018.8442769","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2018.8442769","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 26th Mediterranean Conference on Control and Automation (MED)","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/A5069455146","display_name":"Diana Serra","orcid":"https://orcid.org/0000-0002-2008-7858"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Diana Serra","raw_affiliation_strings":["Department of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, Italy","institution_ids":["https://openalex.org/I71267560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090252727","display_name":"Joel Ferguson","orcid":"https://orcid.org/0000-0001-6812-2846"},"institutions":[{"id":"https://openalex.org/I78757542","display_name":"University of Newcastle Australia","ror":"https://ror.org/00eae9z71","country_code":"AU","type":"education","lineage":["https://openalex.org/I78757542"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Joel Ferguson","raw_affiliation_strings":["School of Electrical Engineering and Computing and PRC CDSC, University of Newcastle, Callaghan, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computing and PRC CDSC, University of Newcastle, Callaghan, Australia","institution_ids":["https://openalex.org/I78757542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010464503","display_name":"Fabio Ruggiero","orcid":"https://orcid.org/0000-0001-7539-9157"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fabio Ruggiero","raw_affiliation_strings":["Department of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, Italy","institution_ids":["https://openalex.org/I71267560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070813784","display_name":"Andrea Siniscalco","orcid":"https://orcid.org/0000-0001-5967-5430"},"institutions":[{"id":"https://openalex.org/I4210118665","display_name":"Alten (Italy)","ror":"https://ror.org/024xst005","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210118665","https://openalex.org/I4210136890"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Siniscalco","raw_affiliation_strings":["ALTEN Italia, Bologna, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ALTEN Italia, Bologna, Italy","institution_ids":["https://openalex.org/I4210118665"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101460489","display_name":"Antoine Petit","orcid":"https://orcid.org/0000-0001-9374-6124"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Antoine Petit","raw_affiliation_strings":["INRIA, Mimesis Group, Strasbourg, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA, Mimesis Group, Strasbourg, France","institution_ids":["https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004747263","display_name":"Vincenzo Lippiello","orcid":"https://orcid.org/0000-0002-6089-2333"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Vincenzo Lippiello","raw_affiliation_strings":["Department of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, Italy","institution_ids":["https://openalex.org/I71267560"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090755079","display_name":"Bruno Siciliano","orcid":"https://orcid.org/0000-0002-1037-0588"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Bruno Siciliano","raw_affiliation_strings":["Department of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, Italy","institution_ids":["https://openalex.org/I71267560"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5477,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.66986801,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"13","last_page":"20"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9991000294685364,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9991000294685364,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9976000189781189,"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":0.9939000010490417,"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/controllability","display_name":"Controllability","score":0.8142939209938049},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.6718118786811829},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.6541220545768738},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6517645120620728},{"id":"https://openalex.org/keywords/bolster","display_name":"Bolster","score":0.578253984451294},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5719209313392639},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5161586999893188},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47964030504226685},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4663165211677551},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.459104061126709},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.45470792055130005},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3230404853820801},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2912168502807617},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.269533634185791},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21260839700698853},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1887701451778412},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.141128271818161},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1339603066444397},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.08439725637435913}],"concepts":[{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.8142939209938049},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.6718118786811829},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.6541220545768738},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6517645120620728},{"id":"https://openalex.org/C2779841105","wikidata":"https://www.wikidata.org/wiki/Q3057620","display_name":"Bolster","level":2,"score":0.578253984451294},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5719209313392639},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5161586999893188},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47964030504226685},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4663165211677551},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.459104061126709},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.45470792055130005},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3230404853820801},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2912168502807617},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.269533634185791},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21260839700698853},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1887701451778412},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.141128271818161},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1339603066444397},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.08439725637435913},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/med.2018.8442769","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2018.8442769","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 26th Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"},{"id":"pmh:uon:43329","is_oa":false,"landing_page_url":"http://hdl.handle.net/1959.13/1448150","pdf_url":null,"source":{"id":"https://openalex.org/S4306401391","display_name":"NOVA (University of Newcastle, Australia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I78757542","host_organization_name":"University of Newcastle Australia","host_organization_lineage":["https://openalex.org/I78757542"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1756045053","https://openalex.org/W1891021866","https://openalex.org/W1976935191","https://openalex.org/W2007212612","https://openalex.org/W2016959837","https://openalex.org/W2017444601","https://openalex.org/W2025090648","https://openalex.org/W2045666702","https://openalex.org/W2099761232","https://openalex.org/W2105085370","https://openalex.org/W2105957568","https://openalex.org/W2113265921","https://openalex.org/W2123409683","https://openalex.org/W2127098779","https://openalex.org/W2129924563","https://openalex.org/W2134789929","https://openalex.org/W2136473294","https://openalex.org/W2148611783","https://openalex.org/W2151074277","https://openalex.org/W2160864841","https://openalex.org/W2161095658","https://openalex.org/W2162860883","https://openalex.org/W2165819505","https://openalex.org/W2166565410","https://openalex.org/W2167664500","https://openalex.org/W2171457282","https://openalex.org/W2507311774","https://openalex.org/W2597823537","https://openalex.org/W2765288010","https://openalex.org/W2766195228","https://openalex.org/W2789539638","https://openalex.org/W2793097035","https://openalex.org/W4230616527","https://openalex.org/W4246394278","https://openalex.org/W6680022651","https://openalex.org/W6682297448","https://openalex.org/W6744975379","https://openalex.org/W6745516643","https://openalex.org/W6903791084"],"related_works":["https://openalex.org/W2802501190","https://openalex.org/W2355537111","https://openalex.org/W2016599132","https://openalex.org/W2351156854","https://openalex.org/W2026950701","https://openalex.org/W2352660214","https://openalex.org/W347222539","https://openalex.org/W2372287690","https://openalex.org/W4249756740","https://openalex.org/W1975855728"],"abstract_inverted_index":{"A":[0,104],"method":[1,113],"to":[2,44,49,65,75,82,109],"reconfigure":[3],"in":[4,22,88],"a":[5,14,18,35,39,46],"nonprehensile":[6],"way":[7],"the":[8,29,51,54,67,77,84,98,102,111],"pose":[9],"(position":[10],"and":[11],"orientation)":[12],"of":[13,28,95,101],"sphere":[15,52],"rolling":[16],"on":[17],"plate":[19,85],"is":[20,31,42,63,73,107],"proposed":[21,112],"this":[23,89],"letter.":[24],"The":[25,70],"nonholonomic":[26],"nature":[27],"task":[30],"first":[32],"solved":[33],"at":[34],"planning":[36],"level,":[37],"where":[38],"geometric":[40],"technique":[41],"employed":[43,74,108],"derive":[45],"Cartesian":[47],"path":[48],"steer":[50],"towards":[53],"arbitrarily":[55],"desired":[56],"pose.":[57],"Then,":[58],"an":[59],"integral":[60],"passivity-based":[61],"control":[62],"designed":[64],"track":[66],"planned":[68],"trajectory.":[69],"port-Hamiltonian":[71],"formalism":[72],"model":[76],"whole":[78],"dynamics.":[79],"Two":[80],"approaches":[81],"move":[83],"are":[86],"addressed":[87],"paper,":[90],"showing":[91],"that":[92],"only":[93],"one":[94],"them":[96],"allows":[97],"full":[99],"controllability":[100],"system.":[103],"humanoid-like":[105],"robot":[106],"bolster":[110],"experimentally.":[114]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}