{"id":"https://openalex.org/W2001733592","doi":"https://doi.org/10.1109/ramech.2008.4681363","title":"Analysis of Actuation for a Spherical Robot","display_name":"Analysis of Actuation for a Spherical Robot","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2001733592","doi":"https://doi.org/10.1109/ramech.2008.4681363","mag":"2001733592"},"language":"en","primary_location":{"id":"doi:10.1109/ramech.2008.4681363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2008.4681363","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","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/A5100641331","display_name":"Qingxuan Jia","orcid":"https://orcid.org/0000-0002-9533-3275"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"QingXuan Jia","raw_affiliation_strings":["School of Automations, Beijing University of Posts and Telecommunications, Beijing, China","Sch. of Automations, Beijing Univ. of Posts & Telecommun., Beijing"],"affiliations":[{"raw_affiliation_string":"School of Automations, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]},{"raw_affiliation_string":"Sch. of Automations, Beijing Univ. of Posts & Telecommun., Beijing","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060097759","display_name":"Sun Hanxv","orcid":null},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"HanXv Sun","raw_affiliation_strings":["School of Automations, Beijing University of Posts and Telecommunications, Beijing, China","Sch. of Automations, Beijing Univ. of Posts & Telecommun., Beijing"],"affiliations":[{"raw_affiliation_string":"School of Automations, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]},{"raw_affiliation_string":"Sch. of Automations, Beijing Univ. of Posts & Telecommun., Beijing","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101615475","display_name":"Daliang Liu","orcid":"https://orcid.org/0000-0002-6722-7993"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"DaLiang Liu","raw_affiliation_strings":["School of Automations, Beijing University of Posts and Telecommunications, Beijing, China","Sch. of Automations, Beijing Univ. of Posts & Telecommun., Beijing"],"affiliations":[{"raw_affiliation_string":"School of Automations, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]},{"raw_affiliation_string":"Sch. of Automations, Beijing Univ. of Posts & Telecommun., Beijing","institution_ids":["https://openalex.org/I139759216"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100641331"],"corresponding_institution_ids":["https://openalex.org/I139759216"],"apc_list":null,"apc_paid":null,"fwci":3.29,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.91900584,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"300","issue":null,"first_page":"266","last_page":"271"},"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":0.991599977016449,"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.9750000238418579,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/gimbal","display_name":"Gimbal","score":0.9891575574874878},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6643410325050354},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5981379747390747},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.5936495065689087},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5350810885429382},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.4762696921825409},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.448237806558609},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4016195237636566},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39880698919296265},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3857474625110626},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.268339067697525},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2188059687614441},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10005277395248413},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08714932203292847},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08556345105171204},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08216550946235657}],"concepts":[{"id":"https://openalex.org/C125750033","wikidata":"https://www.wikidata.org/wiki/Q1146104","display_name":"Gimbal","level":2,"score":0.9891575574874878},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6643410325050354},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5981379747390747},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.5936495065689087},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5350810885429382},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.4762696921825409},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.448237806558609},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4016195237636566},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39880698919296265},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3857474625110626},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.268339067697525},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2188059687614441},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10005277395248413},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08714932203292847},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08556345105171204},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08216550946235657},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ramech.2008.4681363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2008.4681363","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1548478343","https://openalex.org/W2000587268","https://openalex.org/W2030186985","https://openalex.org/W2035569726","https://openalex.org/W2037026590","https://openalex.org/W2101196304","https://openalex.org/W2103374161","https://openalex.org/W2111338039","https://openalex.org/W2123234393","https://openalex.org/W2128055208","https://openalex.org/W2536790887","https://openalex.org/W3011344384","https://openalex.org/W4298879022"],"related_works":["https://openalex.org/W2042038080","https://openalex.org/W4249701897","https://openalex.org/W71119328","https://openalex.org/W2107308837","https://openalex.org/W2154502479","https://openalex.org/W2032711426","https://openalex.org/W2147558862","https://openalex.org/W360452402","https://openalex.org/W4378942199","https://openalex.org/W4247004153"],"abstract_inverted_index":{"In":[0,67],"this":[1,68,94],"paper,":[2,69],"we":[3,70],"present":[4,83],"a":[5,14,19,21,25],"spherical":[6],"robot,":[7],"which":[8],"is":[9,88],"steered":[10],"and":[11,24,33,75,82,92,98],"actuated":[12],"through":[13],"counter-weight":[15],"pendulum":[16],"attached":[17],"at":[18,52],"gimbal,":[20,58],"steer":[22,49],"motor":[23],"drive":[26,29],"motor.":[27],"The":[28,48,86],"motor,":[30,50],"linking":[31],"gimbal":[32],"outer":[34],"shell,":[35],"generates":[36,59],"the":[37,41,46,53,57,60,79],"driving":[38],"torque":[39,62],"about":[40,63],"lateral":[42],"rotation":[43,65],"axis":[44,55],"of":[45,56,96,101],"gimbal.":[47],"located":[51],"longitudinal":[54,64],"leaning":[61],"axis.":[66],"investigate":[71],"its":[72],"motion":[73],"equations":[74],"non-holonomic":[76],"constraints;":[77],"develop":[78],"dynamic":[80],"model,":[81],"simulation":[84],"study.":[85],"work":[87],"significant":[89],"in":[90],"understanding":[91],"developing":[93],"type":[95],"planning":[97],"controlling":[99],"motions":[100],"nonholonomic":[102],"systems.":[103]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
