{"id":"https://openalex.org/W2033534435","doi":"https://doi.org/10.1177/0278364913509126","title":"The ballbot: An omnidirectional balancing mobile robot","display_name":"The ballbot: An omnidirectional balancing mobile robot","publication_year":2013,"publication_date":"2013-11-13","ids":{"openalex":"https://openalex.org/W2033534435","doi":"https://doi.org/10.1177/0278364913509126","mag":"2033534435"},"language":"en","primary_location":{"id":"doi:10.1177/0278364913509126","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364913509126","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5005548471","display_name":"Umashankar Nagarajan","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Umashankar Nagarajan","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067346459","display_name":"George Kantor","orcid":"https://orcid.org/0000-0001-7088-8533"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"George Kantor","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113484919","display_name":"Ralph Hollis","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ralph Hollis","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":3.6146,"has_fulltext":false,"cited_by_count":120,"citation_normalized_percentile":{"value":0.92676926,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"33","issue":"6","first_page":"917","last_page":"930"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9987999796867371,"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":0.998199999332428,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6235118508338928},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5732307434082031},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.5536726117134094},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.5217810273170471},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5198517441749573},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43335750699043274},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4168775677680969},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38868555426597595},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38310790061950684},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3133537173271179},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24338752031326294},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18054941296577454}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6235118508338928},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5732307434082031},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.5536726117134094},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.5217810273170471},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5198517441749573},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43335750699043274},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4168775677680969},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38868555426597595},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38310790061950684},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3133537173271179},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24338752031326294},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18054941296577454},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364913509126","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364913509126","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.386.5645","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.386.5645","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.msl.ri.cmu.edu/publications/pdfs/ballbotIJRR_final.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6899999976158142,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W294477637","https://openalex.org/W591747467","https://openalex.org/W1480240490","https://openalex.org/W1484797826","https://openalex.org/W1559327333","https://openalex.org/W1619551699","https://openalex.org/W1920143287","https://openalex.org/W1960096875","https://openalex.org/W1981753502","https://openalex.org/W1992338761","https://openalex.org/W2008504059","https://openalex.org/W2013232999","https://openalex.org/W2030191867","https://openalex.org/W2060469901","https://openalex.org/W2093158669","https://openalex.org/W2123523114","https://openalex.org/W2123860492","https://openalex.org/W2132816627","https://openalex.org/W2142687309","https://openalex.org/W2145401835","https://openalex.org/W2145448632","https://openalex.org/W2151664215","https://openalex.org/W2156834236","https://openalex.org/W2162029398","https://openalex.org/W2171074980","https://openalex.org/W2312336813","https://openalex.org/W2595229763","https://openalex.org/W2623660146","https://openalex.org/W2623837311","https://openalex.org/W3144902705","https://openalex.org/W4231211634","https://openalex.org/W4249088335","https://openalex.org/W4376543059"],"related_works":["https://openalex.org/W2382997850","https://openalex.org/W4211095314","https://openalex.org/W2390968135","https://openalex.org/W1991249326","https://openalex.org/W4214562868","https://openalex.org/W2382213751","https://openalex.org/W2351750670","https://openalex.org/W2639399975","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"The":[0,93],"ballbot":[1,21,69,94],"is":[2,22],"a":[3,12,27,33,71,81,97,111,136,173],"human-sized":[4],"dynamically":[5],"stable":[6,17],"mobile":[7,18],"robot":[8],"that":[9,85,101,125,140,168],"balances":[10],"on":[11],"single":[13],"ball.":[14],"Unlike":[15],"statically":[16],"robots,":[19],"the":[20,63,68,78,115,151,156,159,176],"tall":[23],"and":[24,32,54,80,119,129],"narrow":[25],"with":[26,70],"high":[28],"center":[29],"of":[30,67,99,114,155,175],"gravity":[31],"small":[34],"footprint.":[35],"Moreover,":[36],"its":[37,90,127],"dynamic":[38,178],"stability":[39,104],"enables":[40,86],"it":[41,49,120],"to":[42,52,76],"be":[43,170],"physically":[44],"interactive.":[45],"These":[46],"characteristics":[47],"make":[48],"better":[50],"suited":[51],"navigate":[53],"interact":[55],"in":[56,150],"cluttered":[57],"human":[58],"environments.":[59],"This":[60,108,132],"paper":[61,109,133,160],"presents":[62,110,121,135],"evolved":[64],"hardware":[65],"design":[66],"four-wheel":[72],"inverse":[73],"mouse-ball":[74],"drive":[75,83],"actuate":[77],"ball,":[79],"yaw":[82],"mechanism":[84],"unlimited":[87],"rotation":[88],"about":[89],"vertical":[91],"axis.":[92],"also":[95,134],"has":[96],"triad":[98],"legs":[100],"provide":[102],"static":[103],"when":[105,147],"powered":[106],"down.":[107],"detailed":[112],"description":[113],"ballbot\u2019s":[116,177],"control":[117],"architecture,":[118],"several":[122],"experimental":[123],"results":[124],"demonstrate":[126],"balancing":[128],"locomotion":[130],"capabilities.":[131],"trajectory":[137],"planning":[138],"algorithm":[139],"plans":[141],"for":[142],"body":[143],"lean":[144],"motions,":[145],"which,":[146],"tracked,":[148],"result":[149,174],"desired":[152],"rest-to-rest":[153],"motions":[154],"robot.":[157],"Finally,":[158],"illustrates":[161],"some":[162],"interesting":[163],"human\u2013robot":[164],"physical":[165],"interaction":[166],"behaviors":[167],"can":[169],"achieved":[171],"as":[172],"stability.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":13},{"year":2018,"cited_by_count":15},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}