{"entities":{"Q2658426":{"pageid":2669169,"ns":120,"title":"Item:Q2658426","lastrevid":57992586,"modified":"2026-04-03T09:12:49Z","type":"item","id":"Q2658426","labels":{"en":{"language":"en","value":"Kinematics of spherical robots rolling over 3D terrains"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7326637"}},"aliases":{},"claims":{"P31":[{"mainsnak":{"snaktype":"value","property":"P31","hash":"fd5912e4dab4b881a8eb0eb27e7893fef55176ad","datavalue":{"value":{"entity-type":"item","numeric-id":56887,"id":"Q56887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2658426$77E5AE20-1B03-4B70-9ED1-9B508DAE0314","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"a4b92048e6f1f247a1bca593ea22ed0c6b8452bf","datavalue":{"value":{"text":"Kinematics of spherical robots rolling over 3D terrains","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2658426$D841465D-2385-4324-BFF7-CE790F067CC9","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"6383bf7f8f7fa9a2ded0575a2e9941d3db2a0906","datavalue":{"value":"1506.70005","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2658426$375C3F10-5EDE-456D-A740-BEF072AB9F1A","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"cb416a7c0260574ad7f8cb75411e3909bf12c2e7","datavalue":{"value":"10.1155/2019/7543969","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2658426$A7D46975-C004-45C7-89E3-6785BDDDA701","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"c3f21b92476c2e07a5b2ebbd31a2219b61cc2e6e","datavalue":{"value":{"entity-type":"item","numeric-id":1722918,"id":"Q1722918"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2658426$CEC83626-825A-42D0-9F53-56A89E03A35E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"2a2231ec6e8204b221ebc58979018f3c87cb7bb6","datavalue":{"value":{"entity-type":"item","numeric-id":1722920,"id":"Q1722920"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2658426$670288F4-9C4C-4C99-B88C-90D60667800F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"ad8e2fc697b9ad4adc43b19d5f74e902262ba5d5","datavalue":{"value":{"entity-type":"item","numeric-id":397247,"id":"Q397247"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2658426$5085C928-0F8D-4091-8CC2-871053C8F88F","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"1dec05d6eca21826ddc25d78a5bfbbb3575f964c","datavalue":{"value":{"entity-type":"item","numeric-id":86231,"id":"Q86231"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2658426$06837FAC-8245-4DE6-B056-49602338D2F6","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"6a2067f7f088cca4935ef807ba74bfb4fdb4f794","datavalue":{"value":{"time":"+2021-03-22T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2658426$4AA0312B-F818-456E-BFC1-D9243B4A7269","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"7e31a1dfdbebfcb38048f94789e1a3771532cd43","datavalue":{"value":"https://arxiv.org/abs/1906.05228","type":"string"},"datatype":"url"},"type":"statement","id":"Q2658426$1620078C-179D-4931-945B-8B4349B5447F","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"4f3ae18c91689aa0d214011f07dda37461898caa","datavalue":{"value":"Summary: Although the kinematics and dynamics of spherical robots (SRs) on flat horizontal and inclined 2D surfaces are thoroughly investigated, their rolling behavior on generic 3D terrains has remained unexplored. This paper derives the kinematics equations of the most common SR configurations rolling over 3D surfaces. First, the kinematics equations for a geometrical sphere rolling over a 3D surface are derived along with the characterization of the modeling method. Next, a brief review of current mechanical configurations of SRs is presented as well as a novel classification for SRs based on their kinematics. Then, considering the mechanical constraints of each category, the kinematics equations for each group of SRs are derived. Afterward, a path-tracking method is utilized for a desired 3D trajectory. Finally, simulations are carried out to validate the developed models and the effectiveness of the proposed control scheme.","type":"string"},"datatype":"string"},"type":"statement","id":"Q2658426$A222F86B-3A70-4263-85B6-4C67C5C97865","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2658426$CC9E6724-7248-4CCE-9851-AEBA6FFA8C5B","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"8e1c6e901c8c140f30615fd635fd49201fad2f02","datavalue":{"value":"7326637","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2658426$88EBAA03-164B-4F93-BEB2-6EC5F601EDAF","rank":"normal"}],"P1463":[{"mainsnak":{"snaktype":"value","property":"P1463","hash":"610b123f470adc1156a1401a3ca9fb5c324c73e9","datavalue":{"value":{"entity-type":"item","numeric-id":19415,"id":"Q19415"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2658426$342B25E9-F7A8-4928-BEA7-1FC62D913FE9","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2658426$C8B84B7F-8C10-473D-9D2C-FA28F4028624","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"ab48e859599a4e845b7678d26d07e272eb06e041","datavalue":{"value":"W3104865572","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2658426$EE1D8994-E97C-4A83-9825-FBCE87D08D02","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"046c0d908ccfcc6feab37f4384c0a58b07be9829","datavalue":{"value":"Q126560576","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2658426$BEB3805B-077F-4324-80A5-1375E010662C","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"1427df066c010597cb2744ebef9d07d91143e0c8","datavalue":{"value":{"entity-type":"item","numeric-id":1860549,"id":"Q1860549"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2658426$808412A8-8BF8-4913-A325-643666D1E279","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1e14fd7f46d70ecf722d308c20c73f051008e814","datavalue":{"value":{"entity-type":"item","numeric-id":5484507,"id":"Q5484507"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2658426$DB6DE072-46B5-42BD-BAAB-E60F8B047742","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3a0a3111f6d2e63d41fe165f3e49bd8fadafbe9f","datavalue":{"value":{"entity-type":"item","numeric-id":652995,"id":"Q652995"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2658426$9ECBE7EA-67FD-473B-A6E2-3E1DFCB54EEA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"59eb944c80e7c6a836993101d2927ca8dab83e99","datavalue":{"value":{"entity-type":"item","numeric-id":497838,"id":"Q497838"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2658426$89752F12-F1CF-4E05-A841-B19C97D73DE2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a768315a1224a56107d8b0e39c6a9670047d30cb","datavalue":{"value":{"entity-type":"item","numeric-id":1888615,"id":"Q1888615"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2658426$577B2594-0EA9-49B9-844A-4206E940DC60","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"923d6d0dd2af4a717e5cb6b195ce9acd3ab11379","datavalue":{"value":{"entity-type":"item","numeric-id":4692549,"id":"Q4692549"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2658426$1B63EF8B-F1AC-4A6F-A866-3225BE88F1AA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4b060b3869772d7f62d3cd24eabc3d10ffa1b43d","datavalue":{"value":{"entity-type":"item","numeric-id":2516362,"id":"Q2516362"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2658426$2FCE3351-B9C7-46FC-A569-6E59E3444EA6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bf89ae25cff530cd0e3c4aa2739df533d96fb968","datavalue":{"value":{"entity-type":"item","numeric-id":2310562,"id":"Q2310562"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2658426$79993A26-880A-4CCB-B682-C391349C5706","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"95f36286529d8d0ad6328ae0f38237175587bbb5","datavalue":{"value":{"entity-type":"item","numeric-id":1722921,"id":"Q1722921"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2658426$BF7F2AF4-0DD6-4203-84C6-726296EB5368","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"430695a090ec72f7da3c4e25405bda51af8bf9a2","datavalue":{"value":{"entity-type":"item","numeric-id":497838,"id":"Q497838"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"64b3f19e57443431a3e6e3324b91dbd1e675bcd2","datavalue":{"value":{"amount":"+0.8051888346672058","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2658426$B82AC370-DAF3-47E2-81FE-9B20261653D3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d7a0b1dda7578ab3ab13b0c686c45691b2887dac","datavalue":{"value":{"entity-type":"item","numeric-id":2516362,"id":"Q2516362"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6d716bd570f157ad771fb03d8a91685c2b4e433d","datavalue":{"value":{"amount":"+0.7586307525634766","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2658426$D6B8B0D2-6962-421A-BB1F-67D68CE69853","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"58a6fd7e8526193811f432c051f46417fd01da72","datavalue":{"value":{"entity-type":"item","numeric-id":2303758,"id":"Q2303758"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ac5b3f42cee88bc858da3feb4a9c236fe7f69510","datavalue":{"value":{"amount":"+0.7494259476661682","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2658426$7D09FE07-46EA-4A8A-902F-25778D4CFA33","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"06b0517d47112b1cb44a431d9eb93a4e7be43b8b","datavalue":{"value":{"entity-type":"item","numeric-id":358453,"id":"Q358453"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f4e94421ed91eaac6b3f045e8d753a8ec30f98e8","datavalue":{"value":{"amount":"+0.7486569285392761","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2658426$09DBABD0-2AC9-443F-A4EF-8B93400CD1AF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"98d7601e62febd88308f1e2c73c558765201ac9d","datavalue":{"value":{"entity-type":"item","numeric-id":1739520,"id":"Q1739520"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e544eac2f719a6e909510b1e893df99ad165243c","datavalue":{"value":{"amount":"+0.7391958236694336","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2658426$D03E7273-5140-4B2E-A579-1D50553CF148","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"45fcd4163b5f33e6e8c784f5522d7246c0a1a61e","datavalue":{"value":{"entity-type":"item","numeric-id":57056,"id":"Q57056"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2658426$5FB3FF6A-054B-445F-A358-24479B917D15","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2658426","badges":[]}}}}}