{"id":"https://openalex.org/W4411019158","doi":"https://doi.org/10.1109/robosoft63089.2025.11020911","title":"MonoRollBot: 3-DOF Spherical Robot with Underactuated Single Compliant Actuator Design","display_name":"MonoRollBot: 3-DOF Spherical Robot with Underactuated Single Compliant Actuator Design","publication_year":2025,"publication_date":"2025-04-22","ids":{"openalex":"https://openalex.org/W4411019158","doi":"https://doi.org/10.1109/robosoft63089.2025.11020911"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft63089.2025.11020911","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020911","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://orca.cardiff.ac.uk/id/eprint/179194/1/RoboSoft_Conf___Zhiwei_Liu_Final.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100321222","display_name":"Zhiwei Liu","orcid":"https://orcid.org/0000-0001-8045-9177"},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Zhiwei Liu","raw_affiliation_strings":["Cardiff University,Geometric Mechanics and Mechatronics in Robotics (gm2R) Lab, the School of Engineering,Cardiff,United Kingdom,CF24 3AA"],"affiliations":[{"raw_affiliation_string":"Cardiff University,Geometric Mechanics and Mechatronics in Robotics (gm2R) Lab, the School of Engineering,Cardiff,United Kingdom,CF24 3AA","institution_ids":["https://openalex.org/I79510175"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018428337","display_name":"Seyed Amir Tafrishi","orcid":"https://orcid.org/0000-0001-9829-3144"},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Seyed Amir Tafrishi","raw_affiliation_strings":["Cardiff University,Geometric Mechanics and Mechatronics in Robotics (gm2R) Lab, the School of Engineering,Cardiff,United Kingdom,CF24 3AA"],"affiliations":[{"raw_affiliation_string":"Cardiff University,Geometric Mechanics and Mechatronics in Robotics (gm2R) Lab, the School of Engineering,Cardiff,United Kingdom,CF24 3AA","institution_ids":["https://openalex.org/I79510175"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100321222"],"corresponding_institution_ids":["https://openalex.org/I79510175"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1192781,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.998199999332428,"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/underactuation","display_name":"Underactuation","score":0.8533480763435364},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.834665060043335},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6006244421005249},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5493929386138916},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4971294701099396},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45145002007484436},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4182548224925995},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3256499767303467},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.319638192653656},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12971946597099304},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10765576362609863}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8533480763435364},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.834665060043335},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6006244421005249},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5493929386138916},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4971294701099396},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45145002007484436},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4182548224925995},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3256499767303467},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.319638192653656},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12971946597099304},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10765576362609863}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robosoft63089.2025.11020911","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020911","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:https://orca.cardiff.ac.uk:179194","is_oa":true,"landing_page_url":null,"pdf_url":"https://orca.cardiff.ac.uk/id/eprint/179194/1/RoboSoft_Conf___Zhiwei_Liu_Final.pdf","source":{"id":"https://openalex.org/S7407055383","display_name":"ORCA Online Research @Cardiff","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":{"id":"pmh:oai:https://orca.cardiff.ac.uk:179194","is_oa":true,"landing_page_url":null,"pdf_url":"https://orca.cardiff.ac.uk/id/eprint/179194/1/RoboSoft_Conf___Zhiwei_Liu_Final.pdf","source":{"id":"https://openalex.org/S7407055383","display_name":"ORCA Online Research @Cardiff","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.7699999809265137}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320006","display_name":"Royal Society","ror":"https://ror.org/03wnrjx87"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4411019158.pdf","grobid_xml":"https://content.openalex.org/works/W4411019158.grobid-xml"},"referenced_works_count":12,"referenced_works":["https://openalex.org/W2072225778","https://openalex.org/W2106979901","https://openalex.org/W2111209385","https://openalex.org/W2111338039","https://openalex.org/W2120202401","https://openalex.org/W2943503667","https://openalex.org/W2956309146","https://openalex.org/W3105022287","https://openalex.org/W3107674415","https://openalex.org/W4313117091","https://openalex.org/W6628837293","https://openalex.org/W6674392726"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W4321093571","https://openalex.org/W3011477119","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2402852349"],"abstract_inverted_index":{"Spherical":[0],"rolling":[1,23],"robots":[2,24],"have":[3],"garnered":[4],"significant":[5],"attention":[6],"in":[7,27,131],"the":[8,46,109,112],"field":[9],"of":[10,34,41,98,111],"mobile":[11],"robotics":[12],"for":[13],"applications":[14],"such":[15],"as":[16],"inspection":[17],"and":[18,81,101,114,134],"space":[19],"exploration.":[20],"Designing":[21],"underactuated":[22,57],"poses":[25],"challenges":[26],"achieving":[28],"multi-directional":[29],"propulsion":[30],"with":[31],"high":[32],"degrees":[33],"freedom":[35],"while":[36],"utilizing":[37],"a":[38,48,62,72,82],"limited":[39],"number":[40],"actuators.":[42],"This":[43],"paper":[44],"presents":[45],"MonoRollBot,":[47],"novel":[49],"3-degree-of-freedom":[50],"(DOF)":[51],"spherical":[52,68],"robot":[53,90],"that":[54],"utilizes":[55],"an":[56,95],"mechanism":[58],"driven":[59],"by":[60],"only":[61,78],"single":[63],"springmotor":[64],"system.":[65],"Unlike":[66],"conventional":[67],"robots,":[69],"MonoRoll-Bot":[70],"employs":[71],"minimalist":[73],"actuation":[74],"approach,":[75],"relying":[76],"on":[77,129],"one":[79],"motor":[80,102],"passive":[83],"spring":[84,99],"to":[85],"control":[86],"its":[87,116,125],"locomotion.":[88],"The":[89],"achieves":[91],"3-DOF":[92],"motion":[93,117],"through":[94,119],"innovative":[96],"coupling":[97],"dynamics":[100],"control.":[103],"In":[104],"this":[105],"work,":[106],"we":[107],"detail":[108],"design":[110,120],"MonoRollBot":[113],"evaluate":[115],"capabilities":[118],"studies.":[121],"We":[122],"also":[123],"study":[124],"locomotion":[126],"behaviours":[127],"based":[128],"changes":[130],"rotating":[132],"mass":[133],"stiffness":[135],"properties.":[136]},"counts_by_year":[],"updated_date":"2026-03-23T07:41:27.035349","created_date":"2025-10-10T00:00:00"}