{"id":"https://openalex.org/W7131111456","doi":"https://doi.org/10.1109/robio66223.2025.11378083","title":"Design of a Novel Spherical Underwater Robot for Omnidirectional Movement","display_name":"Design of a Novel Spherical Underwater Robot for Omnidirectional Movement","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131111456","doi":"https://doi.org/10.1109/robio66223.2025.11378083"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11378083","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11378083","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5113413898","display_name":"Yong Hu","orcid":"https://orcid.org/0000-0002-3903-4596"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Hu","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University,Shanghai,China,200444"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University,Shanghai,China,200444","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126609887","display_name":"Chen Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Zhao","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University,Shanghai,China,200444"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University,Shanghai,China,200444","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065117433","display_name":"Song Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210121989","display_name":"Pearl River Hydraulic Research Institute","ror":"https://ror.org/036g8gs02","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210121989"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Song Xu","raw_affiliation_strings":["Guangdong Yuehai Pearl River Delta Water Supply Co., Ltd,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Yuehai Pearl River Delta Water Supply Co., Ltd,China","institution_ids":["https://openalex.org/I4210121989"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005579216","display_name":"Zhiyong Miao","orcid":null},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongyuan Miao","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University,Shanghai,China,200444"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University,Shanghai,China,200444","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126646506","display_name":"Chengbin Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengbin Wang","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University,Shanghai,China,200444"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University,Shanghai,China,200444","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073025724","display_name":"Zhenfeng Xue","orcid":"https://orcid.org/0000-0002-9593-9429"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenfeng Xue","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University,Shanghai,China,200444"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University,Shanghai,China,200444","institution_ids":["https://openalex.org/I113940042"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"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":"1739","last_page":"1744"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.6075999736785889,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.6075999736785889,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.06310000270605087,"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/T12899","display_name":"Engineering and Technology Innovations","score":0.03460000082850456,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/propulsion","display_name":"Propulsion","score":0.6322000026702881},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6151999831199646},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.6147000193595886},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5727999806404114},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.5577999949455261},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4867999851703644},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41110000014305115},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.3986999988555908},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.35929998755455017}],"concepts":[{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.6322000026702881},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6151999831199646},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.6147000193595886},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5727999806404114},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.5577999949455261},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4867999851703644},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44850000739097595},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4447000026702881},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4438999891281128},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42750000953674316},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41110000014305115},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3986999988555908},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.35929998755455017},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.35530000925064087},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.3547999858856201},{"id":"https://openalex.org/C2779096738","wikidata":"https://www.wikidata.org/wiki/Q7394773","display_name":"STM32","level":3,"score":0.35040000081062317},{"id":"https://openalex.org/C2781052500","wikidata":"https://www.wikidata.org/wiki/Q2230313","display_name":"Shell (structure)","level":2,"score":0.31929999589920044},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.31850001215934753},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.31290000677108765},{"id":"https://openalex.org/C162932704","wikidata":"https://www.wikidata.org/wiki/Q1058791","display_name":"Synchronizing","level":3,"score":0.3118000030517578},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3043000102043152},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3037000000476837},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2992999851703644},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.2766999900341034},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.26759999990463257},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2648000121116638},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26460000872612},{"id":"https://openalex.org/C199524791","wikidata":"https://www.wikidata.org/wiki/Q7198512","display_name":"Piston (optics)","level":3,"score":0.263700008392334},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.25619998574256897},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.2533000111579895},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.2529999911785126}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11378083","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11378083","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.5595185160636902,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Due":[0],"to":[1,124,145,164],"the":[2,41,166,172],"combined":[3],"effects":[4],"of":[5,64],"inertia,":[6],"fluid":[7,155],"viscosity,":[8],"and":[9,56,93,107,141,158,179],"added":[10],"water":[11],"mass,":[12],"achieving":[13],"high":[14],"steering":[15,70],"performance":[16],"in":[17],"underwater":[18,32,177],"robots":[19],"remains":[20],"a":[21,53,87,135],"significant":[22],"challenge.":[23],"In":[24,133],"this":[25],"paper,":[26],"we":[27],"present":[28],"an":[29,59,94],"innovative":[30],"spherical":[31,54],"robot":[33,49],"that":[34,171],"demonstrates":[35],"superior":[36],"maneuverability.":[37],"The":[38,48,168],"design":[39,103,174],"highlights":[40],"following":[42],"key":[43],"features:":[44],"1)":[45],"Mechanical":[46],"design:":[47],"is":[50,84,122,143],"enclosed":[51],"within":[52],"shell":[55],"powered":[57],"by":[58],"omnidirectional":[60],"propulsion":[61],"system":[62,110],"composed":[63],"eight":[65],"thrusters.":[66],"This":[67,101],"configuration":[68],"minimizes":[69],"resistance":[71],"while":[72],"providing":[73],"highly":[74],"flexible":[75],"thrust":[76,115,153],"generation.":[77],"2)":[78],"Control":[79],"architecture:":[80],"A":[81,114],"master-slave":[82],"framework":[83],"implemented,":[85],"integrating":[86],"Raspberry":[88],"Pi":[89],"for":[90,97,183],"high-level":[91],"decision-making":[92],"STM32":[95],"micro-controller":[96],"low-level":[98],"motion":[99,159],"control.":[100],"hierarchical":[102],"improves":[104],"computational":[105],"efficiency":[106],"ensures":[108],"stable":[109],"performance.":[111],"3)Motion":[112],"control:":[113],"allocation":[116],"algorithm":[117],"based":[118],"on":[119],"least-squares":[120],"optimization":[121],"developed":[123],"translate":[125],"target":[126],"movement":[127],"commands":[128],"into":[129],"precise":[130],"thruster":[131],"outputs.":[132],"addition,":[134],"hybrid":[136],"communication":[137],"protocol":[138],"combining":[139],"UDP":[140],"RS485":[142],"adopted":[144],"guarantee":[146],"reliable":[147],"data":[148],"transmission.":[149],"Comprehensive":[150],"experiments,":[151],"including":[152],"characterization,":[154],"dynamics":[156],"simulation,":[157],"control":[160],"validation,":[161],"were":[162],"conducted":[163],"evaluate":[165],"system.":[167],"results":[169],"demonstrate":[170],"proposed":[173],"achieves":[175],"excellent":[176],"maneuverability":[178],"shows":[180],"strong":[181],"potential":[182],"practical":[184],"applications.":[185]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2026-02-24T00:00:00"}