{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T12:15:05Z","timestamp":1740140105140,"version":"3.37.3"},"reference-count":14,"publisher":"World Scientific Pub Co Pte Ltd","issue":"02","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2018,4]]},"abstract":"<jats:p> This paper proposes a precise driving control algorithm by utilizing the slip pattern of an inverted ball-driving robot with Mecanum wheels. The slip pattern of the ball-driving robot has an eight-leaves flower shape, which can be utilized to plan the driving direction of the ball-robot and to minimize the slip. When there exists the slip, the localization of the ball-robot becomes very coarse because of the uncertainties caused by the slip. By minimizing the slip using the analyzed slip pattern, the precise driving of the inverted ball-driving robot with Mecanum wheels can be achieved. Real experiments with a self-manufactured ball-robot have been carried out to show the preciseness of the driving based upon the proposed algorithm compared to the conventional algorithms. <\/jats:p>","DOI":"10.1142\/s021984361850007x","type":"journal-article","created":{"date-parts":[[2018,3,13]],"date-time":"2018-03-13T07:46:08Z","timestamp":1520927168000},"page":"1850007","source":"Crossref","is-referenced-by-count":0,"title":["Optimal Control of an Inverted Ball-Driving Robot Based upon Slip Patterns"],"prefix":"10.1142","volume":"15","author":[{"given":"Howon","family":"Lee","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, Pusan National University, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan 46241, Korea"}]},{"ORCID":"https:\/\/orcid.org\/2378-2378-2378-2378","authenticated-orcid":false,"given":"Jangmyung","family":"Lee","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Pusan National University, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan 46241, Korea"}]}],"member":"219","published-online":{"date-parts":[[2018,4,23]]},"reference":[{"key":"S021984361850007XBIB001","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.917006"},{"key":"S021984361850007XBIB002","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2014.2298214"},{"key":"S021984361850007XBIB003","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843615500346"},{"key":"S021984361850007XBIB004","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574714000010"},{"key":"S021984361850007XBIB005","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2011.2181676"},{"key":"S021984361850007XBIB006","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574714001878"},{"key":"S021984361850007XBIB007","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-31880-4_1"},{"key":"S021984361850007XBIB008","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-14705-5_1"},{"issue":"3","key":"S021984361850007XBIB009","first-page":"255","volume":"27","author":"Lee H.","year":"2012","journal-title":"Int. J. Robot. Autom."},{"key":"S021984361850007XBIB010","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2010.2054102"},{"key":"S021984361850007XBIB011","doi-asserted-by":"publisher","DOI":"10.1038\/scientificamerican1006-72"},{"volume-title":"Modeling and Control of a Ballbot","year":"2010","author":"Fankhauser P.","key":"S021984361850007XBIB014"},{"key":"S021984361850007XBIB019","doi-asserted-by":"publisher","DOI":"10.1080\/15397734.2012.687285"},{"key":"S021984361850007XBIB020","first-page":"229","volume":"26","author":"Garbone G.","year":"2007","journal-title":"Robotica"}],"container-title":["International Journal of Humanoid Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S021984361850007X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,6]],"date-time":"2019-08-06T23:28:11Z","timestamp":1565134091000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/abs\/10.1142\/S021984361850007X"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,4]]},"references-count":14,"journal-issue":{"issue":"02","published-online":{"date-parts":[[2018,4,23]]},"published-print":{"date-parts":[[2018,4]]}},"alternative-id":["10.1142\/S021984361850007X"],"URL":"https:\/\/doi.org\/10.1142\/s021984361850007x","relation":{},"ISSN":["0219-8436","1793-6942"],"issn-type":[{"type":"print","value":"0219-8436"},{"type":"electronic","value":"1793-6942"}],"subject":[],"published":{"date-parts":[[2018,4]]}}}