{"id":"https://openalex.org/W2794259321","doi":"https://doi.org/10.1142/s021984361850007x","title":"Optimal Control of an Inverted Ball-Driving Robot Based upon Slip Patterns","display_name":"Optimal Control of an Inverted Ball-Driving Robot Based upon Slip Patterns","publication_year":2018,"publication_date":"2018-03-13","ids":{"openalex":"https://openalex.org/W2794259321","doi":"https://doi.org/10.1142/s021984361850007x","mag":"2794259321"},"language":"en","primary_location":{"id":"doi:10.1142/s021984361850007x","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s021984361850007x","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-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/A5101594483","display_name":"Howon Lee","orcid":"https://orcid.org/0000-0001-5111-8373"},"institutions":[{"id":"https://openalex.org/I4921948","display_name":"Pusan National University","ror":"https://ror.org/01an57a31","country_code":"KR","type":"education","lineage":["https://openalex.org/I4921948"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Howon Lee","raw_affiliation_strings":["Department of Electrical Engineering, Pusan National University, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan 46241, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Pusan National University, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan 46241, Korea","institution_ids":["https://openalex.org/I4921948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103106188","display_name":"Jang-Myung Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I4921948","display_name":"Pusan National University","ror":"https://ror.org/01an57a31","country_code":"KR","type":"education","lineage":["https://openalex.org/I4921948"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jangmyung Lee","raw_affiliation_strings":["Department of Electrical Engineering, Pusan National University, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan 46241, Korea"],"raw_orcid":"https://orcid.org/2378-2378-2378-2378","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Pusan National University, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan 46241, Korea","institution_ids":["https://openalex.org/I4921948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5103106188"],"corresponding_institution_ids":["https://openalex.org/I4921948"],"apc_list":null,"apc_paid":null,"fwci":0.1873,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.47292617,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"15","issue":"02","first_page":"1850007","last_page":"1850007"},"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":0.9991000294685364,"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":0.9991000294685364,"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":0.9990000128746033,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9968000054359436,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.774269163608551},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.7511377334594727},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.7042646408081055},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5828527808189392},{"id":"https://openalex.org/keywords/slip-ratio","display_name":"Slip ratio","score":0.5182545185089111},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43672385811805725},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36995771527290344},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3611510992050171},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.258389413356781},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17807981371879578},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13964802026748657},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1275888979434967},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12614616751670837},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.05798026919364929}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.774269163608551},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.7511377334594727},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.7042646408081055},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5828527808189392},{"id":"https://openalex.org/C139166363","wikidata":"https://www.wikidata.org/wiki/Q7540858","display_name":"Slip ratio","level":3,"score":0.5182545185089111},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43672385811805725},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36995771527290344},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3611510992050171},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.258389413356781},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17807981371879578},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13964802026748657},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1275888979434967},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12614616751670837},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.05798026919364929},{"id":"https://openalex.org/C2780999251","wikidata":"https://www.wikidata.org/wiki/Q17022503","display_name":"Brake","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s021984361850007x","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s021984361850007x","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1926428750","https://openalex.org/W1968498431","https://openalex.org/W1968672281","https://openalex.org/W1989791130","https://openalex.org/W2035097433","https://openalex.org/W2035609997","https://openalex.org/W2038689900","https://openalex.org/W2040356167","https://openalex.org/W2079554071","https://openalex.org/W2097323016","https://openalex.org/W2107542353","https://openalex.org/W2123860492","https://openalex.org/W2132657900","https://openalex.org/W2145448632","https://openalex.org/W2150683943","https://openalex.org/W2152454256","https://openalex.org/W2497383925","https://openalex.org/W2498736626","https://openalex.org/W2753836784","https://openalex.org/W4249088335"],"related_works":["https://openalex.org/W3033258505","https://openalex.org/W1975577234","https://openalex.org/W2994048156","https://openalex.org/W2076864989","https://openalex.org/W4312873346","https://openalex.org/W2059850776","https://openalex.org/W2083655247","https://openalex.org/W3172969850","https://openalex.org/W2314784439","https://openalex.org/W2015295439"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,97],"precise":[4,81],"driving":[5,40,82,110],"control":[6],"algorithm":[7,115],"by":[8,68],"utilizing":[9],"the":[10,25,39,43,48,53,55,58,65,69,73,76,80,84,106,109,113,118],"slip":[11,22,74,78],"pattern":[12,23],"of":[13,24,42,57,64,83,108],"an":[14,29],"inverted":[15,85],"ball-driving":[16,26,86],"robot":[17,27,87],"with":[18,88,96],"Mecanum":[19,89],"wheels.":[20],"The":[21],"has":[28],"eight-leaves":[30],"flower":[31],"shape,":[32],"which":[33],"can":[34,91],"be":[35,92],"utilized":[36],"to":[37,46,104,117],"plan":[38],"direction":[41],"ball-robot":[44,59,99],"and":[45],"minimize":[47],"slip.":[49,70],"When":[50],"there":[51],"exists":[52],"slip,":[54],"localization":[56],"becomes":[60],"very":[61],"coarse":[62],"because":[63],"uncertainties":[66],"caused":[67],"By":[71],"minimizing":[72],"using":[75],"analyzed":[77],"pattern,":[79],"wheels":[90],"achieved.":[93],"Real":[94],"experiments":[95],"self-manufactured":[98],"have":[100],"been":[101],"carried":[102],"out":[103],"show":[105],"preciseness":[107],"based":[111],"upon":[112],"proposed":[114],"compared":[116],"conventional":[119],"algorithms.":[120]},"counts_by_year":[{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
