{"id":"https://openalex.org/W2165962402","doi":"https://doi.org/10.1109/robio.2009.5420575","title":"Study on turning in place of a spherical robot based on stick-slip principle","display_name":"Study on turning in place of a spherical robot based on stick-slip principle","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2165962402","doi":"https://doi.org/10.1109/robio.2009.5420575","mag":"2165962402"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420575","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420575","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5007010357","display_name":"Bo Zhao","orcid":"https://orcid.org/0000-0003-2859-0180"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100399559","display_name":"Pengfei Wang","orcid":"https://orcid.org/0000-0002-4218-5467"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengfei Wang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100600902","display_name":"Haiyan Hu","orcid":"https://orcid.org/0000-0001-6402-9222"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haiyan Hu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102985038","display_name":"Mantian Li","orcid":"https://orcid.org/0000-0003-4689-3484"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mantian Li","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5103061771","display_name":"Lining Sun","orcid":"https://orcid.org/0000-0002-9354-735X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lining Sun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"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":null,"issue":null,"first_page":"771","last_page":"775"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11082","display_name":"Spacecraft Dynamics and Control","score":0.9987000226974487,"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"}},"topics":[{"id":"https://openalex.org/T11082","display_name":"Spacecraft Dynamics and Control","score":0.9987000226974487,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9962999820709229,"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.9912999868392944,"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/robot","display_name":"Robot","score":0.646668553352356},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.609233558177948},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5967283248901367},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5759400129318237},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5339371562004089},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4877660870552063},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.45773768424987793},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.43604952096939087},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4310864210128784},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39288651943206787},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3764471709728241},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.282335102558136},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.12009412050247192},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11229142546653748}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.646668553352356},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.609233558177948},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5967283248901367},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5759400129318237},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5339371562004089},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4877660870552063},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.45773768424987793},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.43604952096939087},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4310864210128784},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39288651943206787},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3764471709728241},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.282335102558136},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.12009412050247192},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11229142546653748},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.5420575","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420575","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life in Land","score":0.6200000047683716,"id":"https://metadata.un.org/sdg/15"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W2072225778","https://openalex.org/W2106979901","https://openalex.org/W2115643799","https://openalex.org/W2141797101","https://openalex.org/W2165846555","https://openalex.org/W3140453262","https://openalex.org/W3149310120"],"related_works":["https://openalex.org/W2357124094","https://openalex.org/W2387399993","https://openalex.org/W2389739210","https://openalex.org/W2348924972","https://openalex.org/W2365736347","https://openalex.org/W2047454415","https://openalex.org/W2070040999","https://openalex.org/W2387293848","https://openalex.org/W2020829486","https://openalex.org/W2016451691"],"abstract_inverted_index":{"The":[0,24,33,41,58,73,117,130,140,148],"paper":[1],"deals":[2],"with":[3,52],"the":[4,62,76,83,93,108,143,146],"motion":[5,42,64,77,86],"of":[6,10,43,61,69,71,85,95,107,145],"turning":[7,44,63,104],"in":[8,45,105,128],"place":[9,46,106],"a":[11,28,49,98],"spherical":[12,50],"robot":[13,25,34,51,109],"for":[14,103],"military":[15],"reconnaissance":[16],"and":[17,30,38,55,88,137,153],"unknown":[18],"environment":[19],"exploration":[20],"developed":[21],"by":[22,67,113,134],"us.":[23],"belongs":[26],"to":[27,122],"nonholonomic":[29],"under-actuated":[31],"system.":[32,90],"has":[35],"3":[36],"DOF":[37],"2":[39],"inputs.":[40],"can":[47],"make":[48],"higher":[53],"dexterity":[54],"environmental":[56],"adaptability.":[57],"mathematical":[59,96],"model":[60],"is":[65,79,82,101,111,120,132],"established":[66],"theory":[68],"moment":[70],"momentum.":[72],"relationship":[74],"between":[75,150],"parameters":[78],"deduced,":[80],"which":[81,110,125],"basis":[84],"simulation":[87,136],"control":[89],"Based":[91],"on":[92],"analysis":[94,152],"model,":[97],"stick-slip":[99,118],"principle":[100,131],"proposed":[102],"driven":[112],"double":[114],"ballast":[115],"masses.":[116],"process":[119],"divided":[121],"three":[123],"stages":[124],"are":[126,155],"interpreted":[127],"theory.":[129],"verified":[133],"numerical":[135],"prototype":[138],"experiment.":[139],"results":[141],"confirm":[142],"effectiveness":[144],"principle.":[147],"errors":[149],"theoretical":[151],"experiment":[154],"analyzed":[156],"at":[157],"last.":[158]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}