{"id":"https://openalex.org/W3196956617","doi":"https://doi.org/10.1080/01691864.2021.1959398","title":"Extended balance stabilization control for humanoid robot on rotational slope based on seesaw-inverted-pendulum model","display_name":"Extended balance stabilization control for humanoid robot on rotational slope based on seesaw-inverted-pendulum model","publication_year":2021,"publication_date":"2021-08-26","ids":{"openalex":"https://openalex.org/W3196956617","doi":"https://doi.org/10.1080/01691864.2021.1959398","mag":"3196956617"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2021.1959398","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2021.1959398","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/A5066702795","display_name":"Kohei Kimura","orcid":"https://orcid.org/0000-0002-3475-747X"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kohei Kimura","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-3475-747X","affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101836795","display_name":"Kei Okada","orcid":"https://orcid.org/0000-0001-6606-6692"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kei Okada","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047218430","display_name":"Masayuki Inaba","orcid":"https://orcid.org/0000-0003-1273-1567"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masayuki Inaba","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5066702795"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":0.1699,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.45534187,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"35","issue":"18","first_page":"1116","last_page":"1130"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9976000189781189,"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.9459999799728394,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/seesaw-molecular-geometry","display_name":"Seesaw molecular geometry","score":0.8833819627761841},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.82784104347229},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8123511672019958},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.644135057926178},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.608338475227356},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5579076409339905},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.511685848236084},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.43367040157318115},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41431140899658203},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.413549542427063},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4109841287136078},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31826701760292053},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2517910599708557},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18516504764556885},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16397801041603088},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1560102105140686},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13871875405311584},{"id":"https://openalex.org/keywords/neutrino","display_name":"Neutrino","score":0.06367427110671997},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.05881562829017639},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.05685877799987793}],"concepts":[{"id":"https://openalex.org/C159762639","wikidata":"https://www.wikidata.org/wiki/Q2273845","display_name":"Seesaw molecular geometry","level":3,"score":0.8833819627761841},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.82784104347229},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8123511672019958},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.644135057926178},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.608338475227356},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5579076409339905},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.511685848236084},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.43367040157318115},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41431140899658203},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.413549542427063},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4109841287136078},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31826701760292053},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2517910599708557},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18516504764556885},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16397801041603088},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1560102105140686},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13871875405311584},{"id":"https://openalex.org/C186453547","wikidata":"https://www.wikidata.org/wiki/Q2126","display_name":"Neutrino","level":2,"score":0.06367427110671997},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.05881562829017639},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.05685877799987793},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C185544564","wikidata":"https://www.wikidata.org/wiki/Q81197","display_name":"Nuclear physics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2021.1959398","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2021.1959398","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":[{"id":"https://openalex.org/G240295638","display_name":null,"funder_award_id":"19K20373","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1987580649","https://openalex.org/W2009331002","https://openalex.org/W2036484113","https://openalex.org/W2062940189","https://openalex.org/W2108729202","https://openalex.org/W2110215557","https://openalex.org/W2118840382","https://openalex.org/W2133859362","https://openalex.org/W2145788561","https://openalex.org/W2163267929","https://openalex.org/W2503394469","https://openalex.org/W2540854764","https://openalex.org/W2565258066","https://openalex.org/W2784207164","https://openalex.org/W2911195412","https://openalex.org/W2963181245","https://openalex.org/W3037562402","https://openalex.org/W3104755274"],"related_works":["https://openalex.org/W1829175078","https://openalex.org/W2133801610","https://openalex.org/W2130383927","https://openalex.org/W2606527650","https://openalex.org/W2120357486","https://openalex.org/W2151003079","https://openalex.org/W1859914877","https://openalex.org/W2156142930","https://openalex.org/W2170918662","https://openalex.org/W2163503851"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"an":[3],"extended":[4,122],"balance":[5,29,48,77,123,139],"stabilization":[6,30,124,140],"control":[7,31,90,125],"approach":[8],"for":[9,50],"humanoid":[10,25,33,52,80,93,134],"robot":[11,26,34,53,81,94,110,135],"on":[12,38,127,142],"rotational":[13,17,61,83,112],"slope.":[14,84],"We":[15,119],"define":[16],"slope":[18,23,62,113],"as":[19,97,116],"the":[20,39,43,47,58,76,88,121,138,143,147],"unstable":[21],"rotated":[22],"where":[24],"rides.":[27],"Conventional":[28],"enables":[32],"to":[35,74,130],"stand":[36],"stably":[37],"flat":[40],"floor":[41,145],"and":[42,82,105,111,136,146],"uneven":[44],"ground.":[45],"Although":[46],"stability":[49],"only":[51],"can":[54],"be":[55,64],"guaranteed":[56],"by":[57,150],"conventional":[59],"approach,":[60],"cannot":[63],"stabilized":[65],"successfully.":[66],"In":[67],"this":[68],"paper,":[69],"we":[70],"propose":[71],"seesaw-inverted-pendulum":[72,128],"model":[73,86,91,129],"stabilize":[75],"of":[78,101,103,109],"both":[79],"Seesaw-inverted-pendulum":[85],"is":[87,95,114],"generalized":[89],"that":[92],"regarded":[96,115],"inverted":[98],"pendulum":[99],"composed":[100],"center":[102],"mass":[104],"zero":[106],"moment":[107],"point":[108],"seesaw":[117],"dynamics.":[118],"apply":[120],"based":[126],"a":[131],"real":[132],"life-sized":[133],"verify":[137],"results":[141],"wobble":[144],"unicycle":[148],"Segway":[149],"experiments.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
