{"id":"https://openalex.org/W4285400492","doi":"https://doi.org/10.1109/ur55393.2022.9826266","title":"Design and analysis of a spherical robot based on reaction wheel stabilization","display_name":"Design and analysis of a spherical robot based on reaction wheel stabilization","publication_year":2022,"publication_date":"2022-07-04","ids":{"openalex":"https://openalex.org/W4285400492","doi":"https://doi.org/10.1109/ur55393.2022.9826266"},"language":"en","primary_location":{"id":"doi:10.1109/ur55393.2022.9826266","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur55393.2022.9826266","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 19th International Conference on Ubiquitous Robots (UR)","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/A5040556211","display_name":"Cheng Li","orcid":"https://orcid.org/0000-0002-3374-9646"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Cheng Li","raw_affiliation_strings":["Xi'an Jiaotong University, Shaanxi Key Laboratory of Intelligent Robots,Institute of Robotics & Intelligent Systems,Xi'an,China,710049"],"affiliations":[{"raw_affiliation_string":"Xi'an Jiaotong University, Shaanxi Key Laboratory of Intelligent Robots,Institute of Robotics & Intelligent Systems,Xi'an,China,710049","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038153145","display_name":"Aibin Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aibin Zhu","raw_affiliation_strings":["Xi'an Jiaotong University, Shaanxi Key Laboratory of Intelligent Robots,Institute of Robotics & Intelligent Systems,Xi'an,China,710049"],"affiliations":[{"raw_affiliation_string":"Xi'an Jiaotong University, Shaanxi Key Laboratory of Intelligent Robots,Institute of Robotics & Intelligent Systems,Xi'an,China,710049","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058634209","display_name":"Chunli Zheng","orcid":"https://orcid.org/0000-0002-1518-5488"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunli Zheng","raw_affiliation_strings":["Xi'an Jiaotong University,School of Energy and Power Engineering,Xi'an,China,710049"],"affiliations":[{"raw_affiliation_string":"Xi'an Jiaotong University,School of Energy and Power Engineering,Xi'an,China,710049","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082378363","display_name":"Han Mao","orcid":"https://orcid.org/0000-0002-4084-7084"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Mao","raw_affiliation_strings":["Xi'an Jiaotong University, Shaanxi Key Laboratory of Intelligent Robots,Institute of Robotics & Intelligent Systems,Xi'an,China,710049"],"affiliations":[{"raw_affiliation_string":"Xi'an Jiaotong University, Shaanxi Key Laboratory of Intelligent Robots,Institute of Robotics & Intelligent Systems,Xi'an,China,710049","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066143562","display_name":"Muhammad Affan Arif","orcid":"https://orcid.org/0000-0002-9936-516X"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Muhammad Affan Arif","raw_affiliation_strings":["Xi'an Jiaotong University, Shaanxi Key Laboratory of Intelligent Robots,Institute of Robotics & Intelligent Systems,Xi'an,China,710049"],"affiliations":[{"raw_affiliation_string":"Xi'an Jiaotong University, Shaanxi Key Laboratory of Intelligent Robots,Institute of Robotics & Intelligent Systems,Xi'an,China,710049","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059555561","display_name":"Jiyuan Song","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiyuan Song","raw_affiliation_strings":["Xi'an Jiaotong University, Shaanxi Key Laboratory of Intelligent Robots,Institute of Robotics & Intelligent Systems,Xi'an,China,710049"],"affiliations":[{"raw_affiliation_string":"Xi'an Jiaotong University, Shaanxi Key Laboratory of Intelligent Robots,Institute of Robotics & Intelligent Systems,Xi'an,China,710049","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100778274","display_name":"Yulin Zhang","orcid":"https://orcid.org/0000-0002-2548-4609"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yulin Zhang","raw_affiliation_strings":["Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System,Xi'an,China,710049"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System,Xi'an,China,710049","institution_ids":["https://openalex.org/I1327237609"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5040556211"],"corresponding_institution_ids":["https://openalex.org/I87445476"],"apc_list":null,"apc_paid":null,"fwci":1.085,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.75763065,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"143","last_page":"148"},"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":0.9994999766349792,"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":0.9994999766349792,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9961000084877014,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9815999865531921,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7444925308227539},{"id":"https://openalex.org/keywords/spherical-shell","display_name":"Spherical shell","score":0.740688681602478},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5710892677307129},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5336625576019287},{"id":"https://openalex.org/keywords/reaction-wheel","display_name":"Reaction wheel","score":0.49872303009033203},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.48517876863479614},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4550091624259949},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4217739403247833},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37006890773773193},{"id":"https://openalex.org/keywords/shell","display_name":"Shell (structure)","score":0.36569201946258545},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31579533219337463},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.27331122756004333},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.18133214116096497},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12866869568824768},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.08864188194274902}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7444925308227539},{"id":"https://openalex.org/C108280814","wikidata":"https://www.wikidata.org/wiki/Q12137","display_name":"Spherical shell","level":3,"score":0.740688681602478},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5710892677307129},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5336625576019287},{"id":"https://openalex.org/C206245727","wikidata":"https://www.wikidata.org/wiki/Q2457049","display_name":"Reaction wheel","level":3,"score":0.49872303009033203},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.48517876863479614},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4550091624259949},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4217739403247833},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37006890773773193},{"id":"https://openalex.org/C2781052500","wikidata":"https://www.wikidata.org/wiki/Q2230313","display_name":"Shell (structure)","level":2,"score":0.36569201946258545},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31579533219337463},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27331122756004333},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.18133214116096497},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12866869568824768},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.08864188194274902},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ur55393.2022.9826266","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur55393.2022.9826266","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 19th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.49000000953674316,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321655","display_name":"Science and Technology Development Fund","ror":"https://ror.org/044vr6g03"},{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1999471622","https://openalex.org/W2031170838","https://openalex.org/W2040591779","https://openalex.org/W2084726063","https://openalex.org/W2106979901","https://openalex.org/W2111338039","https://openalex.org/W2141797101","https://openalex.org/W2148713684","https://openalex.org/W2316477509","https://openalex.org/W2342850356","https://openalex.org/W2402339929","https://openalex.org/W2908917370","https://openalex.org/W2911124171","https://openalex.org/W3094099438"],"related_works":["https://openalex.org/W4389318410","https://openalex.org/W2021532954","https://openalex.org/W2006971467","https://openalex.org/W2085026264","https://openalex.org/W3092625298","https://openalex.org/W2053410843","https://openalex.org/W1984250159","https://openalex.org/W2031104219","https://openalex.org/W2389231849","https://openalex.org/W1969541928"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"the":[5,30,42,48,66,86,89,95],"design":[6,28],"of":[7,47,65,88],"a":[8,12,24],"spherical":[9,14,31,49],"robot":[10,32,50,67],"with":[11],"high":[13],"shell":[15,26],"to":[16,40,93],"drive-unit":[17],"mass":[18],"ratio.":[19],"A":[20],"drive":[21],"unit":[22],"and":[23,35,56,80],"novel":[25],"structure":[27,92],"for":[29,53],"are":[33,38,51],"proposed,":[34],"reaction":[36,90],"wheels":[37],"used":[39],"reduce":[41],"robot\u2019s":[43,96],"oscillations.":[44],"Dynamic":[45],"models":[46],"established":[52],"linear":[54],"motion":[55],"static":[57],"state":[58],"by":[59],"using":[60],"Lagrange":[61],"equation.":[62],"The":[63,83],"stability":[64],"is":[68],"studied":[69],"via":[70],"simulations":[71],"in":[72],"different,":[73],"such":[74],"as":[75],"accelerated":[76],"state,":[77,79],"uniform":[78],"so":[81],"on.":[82],"results":[84],"demonstrate":[85],"ability":[87],"wheel":[91],"enhance":[94],"stability.":[97]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}