{"id":"https://openalex.org/W2591778158","doi":"https://doi.org/10.1109/robio.2016.7866361","title":"Development of a holonomic mobile spherical robot with 3D center of gravity shifting actuators","display_name":"Development of a holonomic mobile spherical robot with 3D center of gravity shifting actuators","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2591778158","doi":"https://doi.org/10.1109/robio.2016.7866361","mag":"2591778158"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2016.7866361","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2016.7866361","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5100357851","display_name":"Meng Chen","orcid":"https://orcid.org/0000-0001-9657-5383"},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]},{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["CN","HK"],"is_corresponding":true,"raw_author_name":"Meng Chen","raw_affiliation_strings":["Shenzhen Academy of Robotics, City University of Hong Kong","Shenzhen Academy of Robotics, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Academy of Robotics, City University of Hong Kong","institution_ids":["https://openalex.org/I4210104064","https://openalex.org/I168719708"]},{"raw_affiliation_string":"Shenzhen Academy of Robotics, Shenzhen, China","institution_ids":["https://openalex.org/I4210104064"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102124169","display_name":"Winston Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Winston Sun","raw_affiliation_strings":["Shenzhen Academy of Robotics, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Academy of Robotics, Shenzhen, China","institution_ids":["https://openalex.org/I4210104064"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056556040","display_name":"Yingpeng Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yingpeng Gao","raw_affiliation_strings":["Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Hong Kong SAR"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Hong Kong SAR","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084823609","display_name":"Shaodong Zhan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaodong Zhan","raw_affiliation_strings":["Shenzhen Academy of Robotics, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Academy of Robotics, Shenzhen, China","institution_ids":["https://openalex.org/I4210104064"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078395994","display_name":"Guanglie Zhang","orcid":"https://orcid.org/0000-0003-2168-8863"},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanglie Zhang","raw_affiliation_strings":["Shenzhen Academy of Robotics, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Academy of Robotics, Shenzhen, China","institution_ids":["https://openalex.org/I4210104064"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036337382","display_name":"Wen J. Li","orcid":"https://orcid.org/0000-0001-9616-6213"},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]},{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Wen J. Li","raw_affiliation_strings":["Shenzhen Academy of Robotics, City University of Hong Kong","Shenzhen Academy of Robotics, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Academy of Robotics, City University of Hong Kong","institution_ids":["https://openalex.org/I4210104064","https://openalex.org/I168719708"]},{"raw_affiliation_string":"Shenzhen Academy of Robotics, Shenzhen, China","institution_ids":["https://openalex.org/I4210104064"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100357851"],"corresponding_institution_ids":["https://openalex.org/I168719708","https://openalex.org/I4210104064"],"apc_list":null,"apc_paid":null,"fwci":0.2678,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.63853716,"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":"438","last_page":"442"},"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":0.9995999932289124,"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":0.9995999932289124,"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":0.9932000041007996,"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"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9670000076293945,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/gimbal","display_name":"Gimbal","score":0.8113496899604797},{"id":"https://openalex.org/keywords/center-of-gravity","display_name":"Center of gravity","score":0.6689662337303162},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6644265651702881},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6089746952056885},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.5689816474914551},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.532880961894989},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5038384795188904},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4650583863258362},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44978204369544983},{"id":"https://openalex.org/keywords/ellipsoid","display_name":"Ellipsoid","score":0.41736191511154175},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.41592898964881897},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3971654772758484},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38961368799209595},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.36163949966430664},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.31706684827804565},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.24324601888656616},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1499902904033661}],"concepts":[{"id":"https://openalex.org/C125750033","wikidata":"https://www.wikidata.org/wiki/Q1146104","display_name":"Gimbal","level":2,"score":0.8113496899604797},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.6689662337303162},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6644265651702881},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6089746952056885},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.5689816474914551},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.532880961894989},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5038384795188904},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4650583863258362},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44978204369544983},{"id":"https://openalex.org/C57489055","wikidata":"https://www.wikidata.org/wiki/Q190046","display_name":"Ellipsoid","level":2,"score":0.41736191511154175},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.41592898964881897},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3971654772758484},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38961368799209595},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.36163949966430664},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.31706684827804565},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.24324601888656616},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1499902904033661},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2016.7866361","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2016.7866361","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.4399999976158142}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320326705","display_name":"Science, Technology and Innovation Commission of Shenzhen Municipality","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1964915436","https://openalex.org/W1976625292","https://openalex.org/W2095917769","https://openalex.org/W2096276062","https://openalex.org/W2106979901","https://openalex.org/W2110553134","https://openalex.org/W2111338039","https://openalex.org/W2118679978"],"related_works":["https://openalex.org/W2365225477","https://openalex.org/W2384517232","https://openalex.org/W154709440","https://openalex.org/W2024266781","https://openalex.org/W1633054722","https://openalex.org/W2524102889","https://openalex.org/W2351888857","https://openalex.org/W2589848582","https://openalex.org/W2644258051","https://openalex.org/W1587633596"],"abstract_inverted_index":{"We":[0],"present":[1],"our":[2],"development":[3],"of":[4,19,34,57],"a":[5],"spherical":[6],"robot":[7],"prototype":[8],"that":[9],"is":[10],"designed":[11],"to":[12,53],"be":[13,45,82],"completely":[14],"enclosed,":[15],"weatherproof,":[16],"and":[17,73],"capable":[18],"rolling":[20],"holonomically":[21],"on":[22],"flat":[23],"or":[24],"inclined":[25],"two-dimensional":[26,42],"planes.":[27],"By":[28],"constantly":[29],"shifting":[30],"the":[31,40,55,66,70,74],"robot's":[32],"center":[33,56],"gravity":[35],"in":[36],"predetermined":[37],"three-dimensional":[38],"patterns,":[39],"corresponding":[41],"trajectories":[43],"can":[44],"mapped.":[46],"Because":[47],"we":[48],"use":[49],"only":[50],"stepper":[51],"motors":[52],"shift":[54],"gravity,":[58],"all":[59],"payload":[60,72],"motions":[61],"are":[62],"translational":[63],"only;":[64],"thus,":[65],"wired":[67],"connections":[68],"between":[69],"battery-and-controller-equipped":[71],"motor's":[75],"attached":[76],"gimbal":[77],"frame":[78],"mechanisms":[79],"will":[80],"not":[81],"tangled.":[83]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}