{"id":"https://openalex.org/W2061367025","doi":"https://doi.org/10.1177/02783649922066538","title":"Dynamic Mobility with Single-Wheel Configuration","display_name":"Dynamic Mobility with Single-Wheel Configuration","publication_year":1999,"publication_date":"1999-07-01","ids":{"openalex":"https://openalex.org/W2061367025","doi":"https://doi.org/10.1177/02783649922066538","mag":"2061367025"},"language":"en","primary_location":{"id":"doi:10.1177/02783649922066538","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649922066538","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/A5112309496","display_name":"Yangsheng Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"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"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK","US"],"is_corresponding":false,"raw_author_name":"Yangsheng Xu","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese                         University of Hong Kong, The Robotics Institute, Carnegie Mellon University,                         Pittsburgh, Pennsylvania, 15213 USA","Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, 15213 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese                         University of Hong Kong, The Robotics Institute, Carnegie Mellon University,                         Pittsburgh, Pennsylvania, 15213 USA","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I889458895"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, 15213 USA","institution_ids":["https://openalex.org/I74973139","https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111652000","display_name":"H.B. Brown","orcid":null},"institutions":[{"id":"https://openalex.org/I4210114355","display_name":"Carnegie Robotics (United States)","ror":"https://ror.org/01ztv7k18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210114355"]},{"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":"H. Ben Brown","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh,                         Pennsylvania, 15213 USA","The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh,                         Pennsylvania, 15213 USA","institution_ids":["https://openalex.org/I74973139","https://openalex.org/I4210114355"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213, USA#TAB#","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038766171","display_name":"Kwok Wai Samuel Au","orcid":"https://orcid.org/0000-0002-0114-7499"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Kwok Wai Au","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese                         University of Hong Kong","Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese                         University of Hong Kong","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I889458895"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong,","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.1718,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.90746968,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"18","issue":"7","first_page":"728","last_page":"738"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9944999814033508,"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/flywheel","display_name":"Flywheel","score":0.873742938041687},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.687714159488678},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.591804563999176},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5802823901176453},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5727456212043762},{"id":"https://openalex.org/keywords/spinning","display_name":"Spinning","score":0.5112292766571045},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5027368068695068},{"id":"https://openalex.org/keywords/bearing","display_name":"Bearing (navigation)","score":0.5024795532226562},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4697055518627167},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45881161093711853},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3736896514892578},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33637961745262146},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32052069902420044},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.25923973321914673},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.12029340863227844},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11717653274536133},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11491024494171143},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.084238201379776}],"concepts":[{"id":"https://openalex.org/C31107917","wikidata":"https://www.wikidata.org/wiki/Q183576","display_name":"Flywheel","level":2,"score":0.873742938041687},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.687714159488678},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.591804563999176},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5802823901176453},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5727456212043762},{"id":"https://openalex.org/C154815118","wikidata":"https://www.wikidata.org/wiki/Q453762","display_name":"Spinning","level":2,"score":0.5112292766571045},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5027368068695068},{"id":"https://openalex.org/C199978012","wikidata":"https://www.wikidata.org/wiki/Q1273815","display_name":"Bearing (navigation)","level":2,"score":0.5024795532226562},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4697055518627167},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45881161093711853},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3736896514892578},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33637961745262146},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32052069902420044},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.25923973321914673},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.12029340863227844},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11717653274536133},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11491024494171143},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.084238201379776},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783649922066538","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649922066538","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"}],"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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W175508221","https://openalex.org/W395937856","https://openalex.org/W1496249676","https://openalex.org/W1962546792","https://openalex.org/W2003611454","https://openalex.org/W2013232999","https://openalex.org/W2048222901","https://openalex.org/W2067597880","https://openalex.org/W2082529298","https://openalex.org/W2092200011","https://openalex.org/W2098199928","https://openalex.org/W2099761232","https://openalex.org/W2111209385","https://openalex.org/W2115966471","https://openalex.org/W2119778835","https://openalex.org/W2120638551","https://openalex.org/W2122994532","https://openalex.org/W2127055892","https://openalex.org/W2130095752","https://openalex.org/W2131680666","https://openalex.org/W2151688586","https://openalex.org/W2157720571","https://openalex.org/W2163668399","https://openalex.org/W2169503252","https://openalex.org/W2495585520","https://openalex.org/W2798404144","https://openalex.org/W6613528953","https://openalex.org/W6679896349","https://openalex.org/W6684104697","https://openalex.org/W6750245925"],"related_works":["https://openalex.org/W2966487970","https://openalex.org/W2387821838","https://openalex.org/W2370089731","https://openalex.org/W2612545861","https://openalex.org/W2899284070","https://openalex.org/W2377264886","https://openalex.org/W2564816071","https://openalex.org/W581446606","https://openalex.org/W2020829486","https://openalex.org/W2016451691"],"abstract_inverted_index":{"This":[0,69],"paper":[1],"presents":[2],"a":[3,20,30,35,40,55],"novel":[4],"concept":[5],"of":[6,112,129],"mobility":[7],"that":[8,25],"provides":[9],"dynamic":[10,81],"stability":[11,82],"and":[12,47,61,83,98,115,125,137],"rapid":[13],"locomotion.":[14],"The":[15,50,118],"concept,":[16,109],"called":[17],"Gyrover,":[18],"is":[19],"single-wheel,":[21],"gyroscopically":[22],"stabilized":[23],"robot":[24,108],"can":[26,63],"be":[27,64],"considered":[28],"as":[29,54],"single":[31],"wheel":[32,45],"actuated":[33],"by":[34],"spinning":[36,51],"flywheel":[37,52,131],"attached":[38],"to":[39,57,66,85,94],"two-link":[41],"manipulator":[42],"at":[43],"the":[44,59,104,107,113,121,126,130,133],"bearing":[46],"drive":[48],"motor.":[49],"acts":[53],"gyroscope":[56],"stabilize":[58],"robot,":[60],"it":[62],"tilted":[65],"achieve":[67],"steering.":[68],"configuration":[70],"conveys":[71],"significant":[72],"advantages":[73],"over":[74],"multiwheel,":[75],"statically":[76],"stable":[77],"vehicles,":[78],"including":[79],"good":[80],"insensitivity":[84],"attitude":[86],"disturbances,":[87],"high":[88],"maneuverability,":[89],"low":[90],"rolling":[91],"resistance,":[92],"ability":[93],"recover":[95],"from":[96],"falls,":[97],"amphibious":[99],"capability.":[100],"In":[101],"this":[102],"paper,":[103],"authors":[105,119],"present":[106],"three":[110],"prototypes":[111],"design,":[114],"system":[116,134],"implementation.":[117],"study":[120],"robot\u2019s":[122],"nonholonomic":[123],"constraints":[124],"stabilizing":[127],"effect":[128],"on":[132],"through":[135],"simulation":[136],"experiments.":[138]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
