{"id":"https://openalex.org/W2115643799","doi":"https://doi.org/10.1109/iros.2000.894703","title":"Nonholonomic kinematics and dynamics of the Sphericle","display_name":"Nonholonomic kinematics and dynamics of the Sphericle","publication_year":2002,"publication_date":"2002-11-08","ids":{"openalex":"https://openalex.org/W2115643799","doi":"https://doi.org/10.1109/iros.2000.894703","mag":"2115643799"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2000.894703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2000.894703","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)","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/A5063402530","display_name":"C. Camicia","orcid":null},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"C. Camicia","raw_affiliation_strings":["Centro E. Piaggio, University of Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Centro E. Piaggio, University of Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088480317","display_name":"F. Conticelli","orcid":null},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"F. Conticelli","raw_affiliation_strings":["Centro E. Piaggio, University of Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Centro E. Piaggio, University of Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082180334","display_name":"Antonio Bicchi","orcid":"https://orcid.org/0000-0001-8635-5571"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"A. Bicchi","raw_affiliation_strings":["Centro E. Piaggio, University of Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Centro E. Piaggio, University of Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5063402530"],"corresponding_institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"],"apc_list":null,"apc_paid":null,"fwci":3.8294,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.93013092,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"1","issue":null,"first_page":"805","last_page":"810"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9984999895095825,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9905999898910522,"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/nonholonomic-system","display_name":"Nonholonomic system","score":0.9286658763885498},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8992946147918701},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.5925572514533997},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5255017280578613},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49645525217056274},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4946994483470917},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4700077176094055},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34526437520980835},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.32155799865722656},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2693297266960144},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26103854179382324},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.223255455493927},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.21079853177070618},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1971016526222229},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13061916828155518},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09914684295654297},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.07018223404884338}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.9286658763885498},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8992946147918701},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.5925572514533997},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5255017280578613},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49645525217056274},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4946994483470917},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4700077176094055},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34526437520980835},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.32155799865722656},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2693297266960144},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26103854179382324},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.223255455493927},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.21079853177070618},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1971016526222229},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13061916828155518},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09914684295654297},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.07018223404884338}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2000.894703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2000.894703","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.32.6526","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.32.6526","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ftp://131.114.28.35/pub/papers/sphericle-IROS00.pdf","raw_type":"text"},{"id":"pmh:oai:arpi.unipi.it:11568/168294","is_oa":false,"landing_page_url":"http://hdl.handle.net/11568/168294","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5400000214576721,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W79463955","https://openalex.org/W1554861227","https://openalex.org/W1564897360","https://openalex.org/W1576408494","https://openalex.org/W1849371402","https://openalex.org/W2017444601","https://openalex.org/W2025090648","https://openalex.org/W2101196304","https://openalex.org/W2105957568","https://openalex.org/W2111338039","https://openalex.org/W2124052803","https://openalex.org/W2139046735","https://openalex.org/W2153481662"],"related_works":["https://openalex.org/W3188641839","https://openalex.org/W2923210090","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W2972304526","https://openalex.org/W3014594398","https://openalex.org/W2101598871","https://openalex.org/W2109003837","https://openalex.org/W1931336049","https://openalex.org/W4287028639"],"abstract_inverted_index":{"We":[0],"consider":[1],"a":[2,9],"complete":[3],"dynamic":[4,75],"model":[5,62],"for":[6],"the":[7,28,31,40,48,57,60,64],"\"Sphericle\",":[8],"spherical":[10],"vehicle":[11],"that":[12],"has":[13],"been":[14],"designed":[15],"and":[16,33,37,73],"realized":[17],"in":[18],"our":[19],"laboratory.":[20],"The":[21],"Sphericle":[22],"is":[23],"able":[24],"to":[25],"roll":[26],"on":[27,56],"floor":[29],"of":[30,42,59,63,70],"laboratory":[32],"reach":[34],"arbitrary":[35],"positions":[36],"orientations,":[38],"through":[39],"use":[41],"only":[43],"two":[44,68],"motors":[45],"placed":[46],"within":[47],"rolling":[49],"sphere.":[50],"In":[51],"this":[52],"paper,":[53],"we":[54],"report":[55],"derivation":[58],"kinematic":[61],"Sphericle,":[65],"which":[66],"incorporates":[67],"types":[69],"nonholonomic":[71],"constraints":[72],"its":[74],"model.":[76]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":6}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
