{"id":"https://openalex.org/W2943200153","doi":"https://doi.org/10.1109/sii.2019.8700371","title":"Analysis and Prototyping of the Active-caster Robotic Drive with a Ball Transmission","display_name":"Analysis and Prototyping of the Active-caster Robotic Drive with a Ball Transmission","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2943200153","doi":"https://doi.org/10.1109/sii.2019.8700371","mag":"2943200153"},"language":"en","primary_location":{"id":"doi:10.1109/sii.2019.8700371","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2019.8700371","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/SICE International Symposium on System Integration (SII)","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/A5018430830","display_name":"Kosuke Kato","orcid":"https://orcid.org/0000-0002-0248-1368"},"institutions":[{"id":"https://openalex.org/I92614990","display_name":"Tokyo University of Agriculture and Technology","ror":"https://ror.org/00qg0kr10","country_code":"JP","type":"education","lineage":["https://openalex.org/I92614990"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kosuke Kato","raw_affiliation_strings":["Tokyo University of Agriculture and Technology, 2-24-16 Koganei, Tokyo, JAPAN"],"affiliations":[{"raw_affiliation_string":"Tokyo University of Agriculture and Technology, 2-24-16 Koganei, Tokyo, JAPAN","institution_ids":["https://openalex.org/I92614990"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109868410","display_name":"Masayoshi Wada","orcid":null},"institutions":[{"id":"https://openalex.org/I92614990","display_name":"Tokyo University of Agriculture and Technology","ror":"https://ror.org/00qg0kr10","country_code":"JP","type":"education","lineage":["https://openalex.org/I92614990"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masayoshi Wada","raw_affiliation_strings":["Tokyo University of Agriculture and Technology, 2-24-16 Koganei, Tokyo, JAPAN"],"affiliations":[{"raw_affiliation_string":"Tokyo University of Agriculture and Technology, 2-24-16 Koganei, Tokyo, JAPAN","institution_ids":["https://openalex.org/I92614990"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5018430830"],"corresponding_institution_ids":["https://openalex.org/I92614990"],"apc_list":null,"apc_paid":null,"fwci":0.1685,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.45939928,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"2019","issue":null,"first_page":"427","last_page":"432"},"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":0.9997000098228455,"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":0.9997000098228455,"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":0.9968000054359436,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9912999868392944,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/caster","display_name":"Caster","score":0.7957777380943298},{"id":"https://openalex.org/keywords/virtual-prototyping","display_name":"Virtual prototyping","score":0.5444806814193726},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.500901460647583},{"id":"https://openalex.org/keywords/rapid-prototyping","display_name":"Rapid prototyping","score":0.4759763777256012},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.46078526973724365},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36609429121017456},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3555688261985779},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.3319838047027588},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3317074179649353},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.22714757919311523},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06479084491729736}],"concepts":[{"id":"https://openalex.org/C59361812","wikidata":"https://www.wikidata.org/wiki/Q1534874","display_name":"Caster","level":2,"score":0.7957777380943298},{"id":"https://openalex.org/C2780991453","wikidata":"https://www.wikidata.org/wiki/Q3408177","display_name":"Virtual prototyping","level":2,"score":0.5444806814193726},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.500901460647583},{"id":"https://openalex.org/C2780395129","wikidata":"https://www.wikidata.org/wiki/Q1128971","display_name":"Rapid prototyping","level":2,"score":0.4759763777256012},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.46078526973724365},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36609429121017456},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3555688261985779},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3319838047027588},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3317074179649353},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.22714757919311523},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06479084491729736},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/sii.2019.8700371","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2019.8700371","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"},{"id":"mag:3088574151","is_oa":false,"landing_page_url":"https://jglobal.jst.go.jp/en/detail?JGLOBAL_ID=201902246632340232","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","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":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.7099999785423279}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1973009775","https://openalex.org/W2046387417","https://openalex.org/W2161209182","https://openalex.org/W2168108948","https://openalex.org/W2316008889","https://openalex.org/W2566772047"],"related_works":["https://openalex.org/W4241731252","https://openalex.org/W2665844835","https://openalex.org/W2047372571","https://openalex.org/W2383085052","https://openalex.org/W2321026875","https://openalex.org/W3142133240","https://openalex.org/W4241255038","https://openalex.org/W3138687871","https://openalex.org/W2016877068","https://openalex.org/W2152989729"],"abstract_inverted_index":{"In":[0],"this":[1,106],"paper,":[2],"the":[3,29,54,59,74,110,115,125,165,177,180,216,218,227],"active-caster":[4,30,75,229],"robotic":[5],"drive":[6,20,28,65],"with":[7,22,118,150,189,236],"a":[8,18,23,46,66,70,78,88,119,128,132,139,142,146,156,159,186],"ball":[9,37,60,83,120,160],"transmission":[10,84],"(ACROBAT-S)":[11],"is":[12,38,224],"presented.":[13],"The":[14,50,81,122,193],"proposed":[15,82,116,228],"mechanism":[16,117,188],"includes":[17],"unique":[19],"train":[21],"ball-roller":[24],"traction":[25],"system":[26,90],"to":[27,64,76,86,154,212],"omnidirectional":[31,234],"wheel":[32,67,143,187],"system.":[33],"A":[34],"large":[35],"steel":[36],"driven":[39],"by":[40,198],"two":[41,190],"rollers,":[42],"which":[43,203],"act":[44],"as":[45,136],"power":[47,56],"composition":[48],"function.":[49],"third":[51],"roller":[52],"takes":[53],"combined":[55],"out":[57],"from":[58],"and":[61,69,97,112,145,161,168,179,184,208,221,240],"decomposes":[62],"it":[63,92,223],"axis":[68,72],"steering":[71],"of":[73,114,124],"create":[77],"caster":[79,147],"motion.":[80],"contributes":[85],"simplify":[87],"control":[89,201],"since":[91],"needs":[93],"no":[94,237,241],"angle":[95,238],"sensor":[96,239],"complicated":[98,242],"calculations":[99],"for":[100,131],"cooperative":[101],"motor":[102,213],"control.":[103,243],"To":[104,163],"realize":[105],"concept,":[107],"we":[108,182],"analyze":[109],"kinematics":[111],"statics":[113],"transmission.":[121],"results":[123,217],"analysis":[126,167,178],"provide":[127],"mechanical":[129,169],"condition":[130],"prototype":[133,219],"design,":[134],"such":[135],"relationship":[137],"among":[138],"gear":[140],"ratio,":[141],"radius":[144],"offset,":[148],"together":[149],"pre":[151],"load":[152],"conditions":[153],"avoid":[155],"slip":[157],"between":[158],"rollers.":[162],"verify":[164],"kinematic":[166],"condition,":[170],"simulation":[171],"studies":[172],"are":[173,196,210],"performed.":[174],"Based":[175],"on":[176],"simulation,":[181],"design":[183,220],"build":[185],"step":[191,194],"motors.":[192],"motors":[195],"controlled":[197],"feed":[199],"forward":[200],"in":[202],"velocity":[204],"commands":[205],"along":[206],"x-axis":[207],"y-axis":[209],"sent":[211],"drivers.":[214],"From":[215],"experiments,":[222],"confirmed":[225],"that":[226],"mechanism,":[230],"ACROBAT-S,":[231],"realized":[232],"expected":[233],"motions":[235]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-08T06:01:36.053099","created_date":"2025-10-10T00:00:00"}