{"id":"https://openalex.org/W3016263117","doi":"https://doi.org/10.1080/01691864.2020.1749927","title":"Development of a single-wheeled inverted pendulum robot capable of climbing stairs","display_name":"Development of a single-wheeled inverted pendulum robot capable of climbing stairs","publication_year":2020,"publication_date":"2020-04-07","ids":{"openalex":"https://openalex.org/W3016263117","doi":"https://doi.org/10.1080/01691864.2020.1749927","mag":"3016263117"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2020.1749927","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2020.1749927","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"],"host_organization_lineage_names":["Taylor & Francis"],"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/A5006886204","display_name":"Ananta Adhi Wardana","orcid":null},"institutions":[{"id":"https://openalex.org/I113306721","display_name":"Hiroshima University","ror":"https://ror.org/03t78wx29","country_code":"JP","type":"education","lineage":["https://openalex.org/I113306721"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"A. A. Wardana","raw_affiliation_strings":["Department of System Cybernetics, Faculty of Engineering, Hiroshima University, Higashihiroshima, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of System Cybernetics, Faculty of Engineering, Hiroshima University, Higashihiroshima, Japan","institution_ids":["https://openalex.org/I113306721"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081924993","display_name":"Takeshi Takaki","orcid":"https://orcid.org/0000-0003-3213-9130"},"institutions":[{"id":"https://openalex.org/I113306721","display_name":"Hiroshima University","ror":"https://ror.org/03t78wx29","country_code":"JP","type":"education","lineage":["https://openalex.org/I113306721"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"T. Takaki","raw_affiliation_strings":["Department of System Cybernetics, Faculty of Engineering, Hiroshima University, Higashihiroshima, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of System Cybernetics, Faculty of Engineering, Hiroshima University, Higashihiroshima, Japan","institution_ids":["https://openalex.org/I113306721"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018393782","display_name":"Ming Jiang","orcid":"https://orcid.org/0000-0002-1999-1866"},"institutions":[{"id":"https://openalex.org/I113306721","display_name":"Hiroshima University","ror":"https://ror.org/03t78wx29","country_code":"JP","type":"education","lineage":["https://openalex.org/I113306721"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Jiang","raw_affiliation_strings":["Department of System Cybernetics, Faculty of Engineering, Hiroshima University, Higashihiroshima, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of System Cybernetics, Faculty of Engineering, Hiroshima University, Higashihiroshima, Japan","institution_ids":["https://openalex.org/I113306721"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060719224","display_name":"Idaku Ishii","orcid":"https://orcid.org/0000-0002-7728-2363"},"institutions":[{"id":"https://openalex.org/I113306721","display_name":"Hiroshima University","ror":"https://ror.org/03t78wx29","country_code":"JP","type":"education","lineage":["https://openalex.org/I113306721"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"I. Ishii","raw_affiliation_strings":["Department of System Cybernetics, Faculty of Engineering, Hiroshima University, Higashihiroshima, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of System Cybernetics, Faculty of Engineering, Hiroshima University, Higashihiroshima, Japan","institution_ids":["https://openalex.org/I113306721"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5081924993"],"corresponding_institution_ids":["https://openalex.org/I113306721"],"apc_list":null,"apc_paid":null,"fwci":0.7681,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.67334517,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"34","issue":"10","first_page":"674","last_page":"688"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987999796867371,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987999796867371,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9979000091552734,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9933000206947327,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.8683443069458008},{"id":"https://openalex.org/keywords/stairs","display_name":"Stairs","score":0.8352766036987305},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6641262769699097},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6376076936721802},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.6171246767044067},{"id":"https://openalex.org/keywords/pulley","display_name":"Pulley","score":0.5690696239471436},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.5645988583564758},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5495088696479797},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.47258031368255615},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4573878347873688},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4563681483268738},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42549869418144226},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17627492547035217},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1662006676197052},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.14958959817886353},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09061524271965027},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.0875231921672821}],"concepts":[{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.8683443069458008},{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.8352766036987305},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6641262769699097},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6376076936721802},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6171246767044067},{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.5690696239471436},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.5645988583564758},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5495088696479797},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.47258031368255615},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4573878347873688},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4563681483268738},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42549869418144226},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17627492547035217},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1662006676197052},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.14958959817886353},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09061524271965027},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0875231921672821},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"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:10.1080/01691864.2020.1749927","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2020.1749927","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"],"host_organization_lineage_names":["Taylor & Francis"],"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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1500428252","https://openalex.org/W1560270123","https://openalex.org/W1601780092","https://openalex.org/W1969420580","https://openalex.org/W1971559112","https://openalex.org/W1973501183","https://openalex.org/W1977450762","https://openalex.org/W2000587268","https://openalex.org/W2003999924","https://openalex.org/W2008841899","https://openalex.org/W2025800696","https://openalex.org/W2029065245","https://openalex.org/W2092167966","https://openalex.org/W2092700914","https://openalex.org/W2105219792","https://openalex.org/W2118444682","https://openalex.org/W2132657900","https://openalex.org/W2140907765","https://openalex.org/W2152705948","https://openalex.org/W2201087437","https://openalex.org/W2345626358","https://openalex.org/W2462722718","https://openalex.org/W2464737801","https://openalex.org/W2909664348","https://openalex.org/W2998148600"],"related_works":["https://openalex.org/W2088261536","https://openalex.org/W2628003308","https://openalex.org/W2332096383","https://openalex.org/W2123208718","https://openalex.org/W3108631018","https://openalex.org/W2551741329","https://openalex.org/W2082442769","https://openalex.org/W2531085753","https://openalex.org/W2781161971","https://openalex.org/W2699743734"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"the":[5,20,52,72,85,95],"design":[6],"of":[7,12,38,54,104,111,118],"a":[8,39,67,79,88,101,108],"single-wheeled":[9],"robot":[10,16,75,96],"capable":[11],"climbing":[13,22,49],"stairs.":[14,29],"The":[15,30,47,74],"is":[17,76],"equipped":[18,77],"with":[19,78,100],"proposed":[21,48],"mechanism,":[23],"which":[24],"enables":[25],"it":[26,61],"to":[27,83,120],"climb":[28,98],"mechanism":[31,50],"has":[32,51],"an":[33,57,115],"extremely":[34],"simple":[35],"structure,":[36],"comprised":[37],"parallel":[40],"arm,":[41],"belt,":[42],"harmonic":[43],"drive,":[44],"and":[45,107],"pulley.":[46],"advantage":[53],"not":[55],"requiring":[56],"additional":[58],"actuator":[59,69],"because":[60],"can":[62,97],"be":[63],"driven":[64],"by":[65],"using":[66],"single":[68],"that":[70,94],"drives":[71],"wheel.":[73],"control":[80,84],"moment":[81],"gyroscope":[82],"stability":[86],"in":[87],"lateral":[89],"direction.":[90],"Experimental":[91],"results":[92],"demonstrate":[93],"stairs":[99],"riser":[102],"height":[103],"12\u201313":[105],"cm":[106,113],"tread":[109],"depth":[110],"39":[112],"at":[114],"approximate":[116],"rate":[117],"2":[119],"3":[121],"s":[122],"for":[123],"each":[124],"step.":[125]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}