{"id":"https://openalex.org/W2087310358","doi":"https://doi.org/10.2298/csis1001051s","title":"Modeling and simulation of a spherical mobile robot","display_name":"Modeling and simulation of a spherical mobile robot","publication_year":2010,"publication_date":"2010-01-01","ids":{"openalex":"https://openalex.org/W2087310358","doi":"https://doi.org/10.2298/csis1001051s","mag":"2087310358"},"language":"en","primary_location":{"id":"doi:10.2298/csis1001051s","is_oa":true,"landing_page_url":"https://doi.org/10.2298/csis1001051s","pdf_url":"http://www.doiserbia.nb.rs/ft.aspx?id=1820-02141001051S","source":{"id":"https://openalex.org/S206939107","display_name":"Computer Science and Information Systems","issn_l":"1820-0214","issn":["1820-0214","2406-1018"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310321031","host_organization_name":"ComSIS Consortium","host_organization_lineage":["https://openalex.org/P4310321031"],"host_organization_lineage_names":["ComSIS Consortium"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computer Science and Information Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"http://www.doiserbia.nb.rs/ft.aspx?id=1820-02141001051S","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5110435304","display_name":"Shengju Sang","orcid":null},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengju Sang","raw_affiliation_strings":["School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, China + School of Information Science and Technology, Taishan College, Shandong Taian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, China + School of Information Science and Technology, Taishan College, Shandong Taian, China","institution_ids":["https://openalex.org/I143593769"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103348530","display_name":"Jichao Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I4210118050","display_name":"Taishan University","ror":"https://ror.org/02bpnkx55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210118050"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhao Jichao","raw_affiliation_strings":["School of Information Science and Technology, Taishan College, Shandong Taian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Taishan College, Shandong Taian, China","institution_ids":["https://openalex.org/I4210118050"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043424619","display_name":"Hao Wu","orcid":"https://orcid.org/0000-0003-2448-3687"},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Wu","raw_affiliation_strings":["School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033990401","display_name":"Shoujun Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shoujun Chen","raw_affiliation_strings":["School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100606746","display_name":"Qi An","orcid":"https://orcid.org/0000-0003-1363-0389"},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi An","raw_affiliation_strings":["School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.9042,"has_fulltext":true,"cited_by_count":25,"citation_normalized_percentile":{"value":0.87179487,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"7","issue":"1","first_page":"51","last_page":"62"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9970999956130981,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9948999881744385,"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/computer-science","display_name":"Computer science","score":0.8390610814094543},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6990403532981873},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.6883354187011719},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6745596528053284},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6626559495925903},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.6042869091033936},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5506711006164551},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.45383524894714355},{"id":"https://openalex.org/keywords/modeling-and-simulation","display_name":"Modeling and simulation","score":0.4348664879798889},{"id":"https://openalex.org/keywords/dynamic-simulation","display_name":"Dynamic simulation","score":0.426373153924942},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.42114004492759705},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2170467972755432},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.12053310871124268},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07679596543312073},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.056807905435562134},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.05641046166419983}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8390610814094543},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6990403532981873},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.6883354187011719},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6745596528053284},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6626559495925903},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.6042869091033936},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5506711006164551},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.45383524894714355},{"id":"https://openalex.org/C167343916","wikidata":"https://www.wikidata.org/wiki/Q6888384","display_name":"Modeling and simulation","level":2,"score":0.4348664879798889},{"id":"https://openalex.org/C149808339","wikidata":"https://www.wikidata.org/wiki/Q5319019","display_name":"Dynamic simulation","level":2,"score":0.426373153924942},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42114004492759705},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2170467972755432},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.12053310871124268},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07679596543312073},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.056807905435562134},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.05641046166419983},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.2298/csis1001051s","is_oa":true,"landing_page_url":"https://doi.org/10.2298/csis1001051s","pdf_url":"http://www.doiserbia.nb.rs/ft.aspx?id=1820-02141001051S","source":{"id":"https://openalex.org/S206939107","display_name":"Computer Science and Information Systems","issn_l":"1820-0214","issn":["1820-0214","2406-1018"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310321031","host_organization_name":"ComSIS Consortium","host_organization_lineage":["https://openalex.org/P4310321031"],"host_organization_lineage_names":["ComSIS Consortium"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computer Science and Information Systems","raw_type":"journal-article"},{"id":"pmh:oai:doiserbia:1820-02141001051S","is_oa":false,"landing_page_url":"http://doi.org/10.2298/CSIS1001051S","pdf_url":null,"source":{"id":"https://openalex.org/S4306400515","display_name":"Digital Object Identifier (DOI) Repository Serbia (National Library of Serbia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210142455","host_organization_name":"National Library of Serbia","host_organization_lineage":["https://openalex.org/I4210142455"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":". 7(1) 51-62"}],"best_oa_location":{"id":"doi:10.2298/csis1001051s","is_oa":true,"landing_page_url":"https://doi.org/10.2298/csis1001051s","pdf_url":"http://www.doiserbia.nb.rs/ft.aspx?id=1820-02141001051S","source":{"id":"https://openalex.org/S206939107","display_name":"Computer Science and Information Systems","issn_l":"1820-0214","issn":["1820-0214","2406-1018"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310321031","host_organization_name":"ComSIS Consortium","host_organization_lineage":["https://openalex.org/P4310321031"],"host_organization_lineage_names":["ComSIS Consortium"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computer Science and Information Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.47999998927116394}],"awards":[],"funders":[{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2087310358.pdf"},"referenced_works_count":18,"referenced_works":["https://openalex.org/W1490099585","https://openalex.org/W1536905408","https://openalex.org/W1888316070","https://openalex.org/W1988382898","https://openalex.org/W1995060319","https://openalex.org/W2002174638","https://openalex.org/W2007989953","https://openalex.org/W2017797320","https://openalex.org/W2072225778","https://openalex.org/W2096276062","https://openalex.org/W2103374161","https://openalex.org/W2106979901","https://openalex.org/W2109113349","https://openalex.org/W2111338039","https://openalex.org/W2118679978","https://openalex.org/W2123234393","https://openalex.org/W2165628888","https://openalex.org/W2166565410"],"related_works":["https://openalex.org/W2724311592","https://openalex.org/W2736986302","https://openalex.org/W2378383478","https://openalex.org/W2402852349","https://openalex.org/W2033553599","https://openalex.org/W2350997788","https://openalex.org/W2381789890","https://openalex.org/W2736941730","https://openalex.org/W2366183223","https://openalex.org/W2391967251"],"abstract_inverted_index":{"Spherical":[0],"mobile":[1],"robot":[2,36],"(SMR)":[3],"has":[4],"been":[5],"studied":[6],"analytically":[7],"and":[8,21,28,41],"experimentally":[9,62],"in":[10],"this":[11],"paper,":[12],"a":[13],"novel":[14],"design":[15],"with":[16,55,71],"an":[17],"internal":[18],"propulsion":[19],"mechanism":[20],"mathematical":[22],"models":[23],"of":[24,35,50,66,74],"the":[25,64,72],"robot's":[26],"dynamics":[27],"kinematics":[29],"are":[30,57],"introduced.":[31],"A":[32],"3D":[33],"model":[34,68],"is":[37,60],"built":[38],"by":[39,52],"SOLIDWORKS":[40],"then":[42],"exported":[43],"to":[44],"ADAMS2007":[45],"for":[46],"simulation.":[47,75],"The":[48],"results":[49],"simulation":[51],"combining":[53],"MATLAB/SIMULINK":[54],"ADAMS":[56],"presented.":[58],"It":[59],"shown":[61],"that":[63],"behavior":[65],"actual":[67],"consist":[69],"well":[70],"prediction":[73]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2016-06-24T00:00:00"}