{"id":"https://openalex.org/W3011973155","doi":"https://doi.org/10.1080/01691864.2020.1738273","title":"Posture stability control of a small inverted pendulum robot in trajectory tracking using a control moment gyro","display_name":"Posture stability control of a small inverted pendulum robot in trajectory tracking using a control moment gyro","publication_year":2020,"publication_date":"2020-03-18","ids":{"openalex":"https://openalex.org/W3011973155","doi":"https://doi.org/10.1080/01691864.2020.1738273","mag":"3011973155"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2020.1738273","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2020.1738273","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547","https://openalex.org/P4310320449"],"host_organization_lineage_names":["Taylor & Francis","Informa"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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/A5024317145","display_name":"Kunitoshi Tanaka","orcid":null},"institutions":[{"id":"https://openalex.org/I171481255","display_name":"Shibaura Institute of Technology","ror":"https://ror.org/020wjcq07","country_code":"JP","type":"education","lineage":["https://openalex.org/I171481255"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kunitoshi Tanaka","raw_affiliation_strings":["Mecchanical Engineering, Shibaura Institute of Technology, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mecchanical Engineering, Shibaura Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I171481255"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5105473190","display_name":"Sumito NAGASAWA","orcid":null},"institutions":[{"id":"https://openalex.org/I171481255","display_name":"Shibaura Institute of Technology","ror":"https://ror.org/020wjcq07","country_code":"JP","type":"education","lineage":["https://openalex.org/I171481255"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Sumito Nagasawa","raw_affiliation_strings":["Engineering Science and Mechanics, Shibaura Institute of Technology, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Science and Mechanics, Shibaura Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I171481255"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5105473190"],"corresponding_institution_ids":["https://openalex.org/I171481255"],"apc_list":null,"apc_paid":null,"fwci":1.0496,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.72356519,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"34","issue":"9","first_page":"610","last_page":"620"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9973999857902527,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9973999857902527,"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"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.996399998664856,"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/T13885","display_name":"Geophysics and Sensor Technology","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/inverted-pendulum","display_name":"Inverted pendulum","score":0.8523977994918823},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7920453548431396},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6796823740005493},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.6207022070884705},{"id":"https://openalex.org/keywords/double-inverted-pendulum","display_name":"Double inverted pendulum","score":0.6010462045669556},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5901002287864685},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.5887269973754883},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5215168595314026},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4873567223548889},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.423692524433136},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.37314653396606445},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35944080352783203},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24410441517829895},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.17430511116981506},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16142088174819946},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.15748992562294006},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.13246184587478638},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.08630922436714172}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.8523977994918823},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7920453548431396},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6796823740005493},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.6207022070884705},{"id":"https://openalex.org/C102540577","wikidata":"https://www.wikidata.org/wiki/Q5300047","display_name":"Double inverted pendulum","level":4,"score":0.6010462045669556},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5901002287864685},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.5887269973754883},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5215168595314026},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4873567223548889},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.423692524433136},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.37314653396606445},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35944080352783203},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24410441517829895},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.17430511116981506},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16142088174819946},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.15748992562294006},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.13246184587478638},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.08630922436714172},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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":1,"locations":[{"id":"doi:10.1080/01691864.2020.1738273","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2020.1738273","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547","https://openalex.org/P4310320449"],"host_organization_lineage_names":["Taylor & Francis","Informa"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1995539648","https://openalex.org/W2010861611","https://openalex.org/W2026661001","https://openalex.org/W2037365904","https://openalex.org/W2067356029","https://openalex.org/W2076192651","https://openalex.org/W2102790159","https://openalex.org/W2115966471","https://openalex.org/W2137641153","https://openalex.org/W2205683068","https://openalex.org/W2325689662","https://openalex.org/W2524583067","https://openalex.org/W2772463918","https://openalex.org/W2774641135","https://openalex.org/W2802904589","https://openalex.org/W2901343640","https://openalex.org/W4253844681"],"related_works":["https://openalex.org/W2024927487","https://openalex.org/W1492838287","https://openalex.org/W2034778971","https://openalex.org/W2349578589","https://openalex.org/W2612646280","https://openalex.org/W2893549521","https://openalex.org/W2204278379","https://openalex.org/W2381121570","https://openalex.org/W2379721524","https://openalex.org/W2341932412"],"abstract_inverted_index":{"This":[0,67],"paper":[1],"reports":[2],"on":[3,21],"a":[4,15,34,53,60,71,89,104,138,157],"posture":[5,49,142,172,188],"stability":[6,143],"control":[7,16,144],"method":[8],"for":[9],"an":[10,29,40,43,99,133],"inverted":[11,26,30,44,55,81,100,134,153],"pendulum":[12,31,45,56,82,101,135,154],"robot":[13,57,102,136,155],"using":[14,103],"moment":[17],"gyro":[18],"(CMG)":[19],"mounted":[20],"the":[22,25,108,116,152,162,166,169,175,181,185],"top":[23],"of":[24,64,151],"pendulum.":[27],"As":[28],"dimension":[32],"decreases,":[33],"time":[35],"to":[36,39,76,87,92,106],"fall":[37],"over":[38,119],"angle":[41],"where":[42],"cannot":[46,58],"restore":[47],"its":[48,78,125],"becomes":[50],"shorter;":[51],"however,":[52],"small":[54],"have":[59],"powerful":[61],"computer":[62],"because":[63],"space":[65,86],"limitations.":[66],"means":[68],"it":[69,122],"requires":[70],"faster":[72],"and":[73,145,174,190],"smaller":[74],"way":[75],"maintain":[77],"balance.":[79,95],"Furthermore,":[80],"robots":[83],"require":[84],"movement":[85],"gain":[88],"restoring":[90,110],"force":[91],"keep":[93,124],"their":[94],"We":[96,129],"thus":[97],"proposed":[98],"CMG":[105,139,158,170],"obtain":[107],"necessary":[109],"force.":[111],"The":[112,149],"CMG\u2019s":[113],"effects":[114],"decreased":[115],"robot\u2019s":[117],"falling":[118],"speed,":[120],"meaning":[121],"can":[123,140],"balance":[126],"without":[127],"moving.":[128],"successfully":[130],"demonstrated":[131],"that":[132],"with":[137,156],"separate":[141],"trajectory":[146,178,191],"tracking":[147],"control.":[148],"validity":[150],"was":[159],"confirmed":[160],"comparing":[161],"two":[163],"experiments.":[164],"In":[165,180],"first":[167],"experiment,":[168,183],"performed":[171,177,187],"stabilization":[173,189],"wheel":[176,186],"tracking.":[179,192],"second":[182],"only":[184]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2}],"updated_date":"2026-08-25T07:29:55.448023","created_date":"2025-10-10T00:00:00"}
