{"id":"https://openalex.org/W2998532426","doi":"https://doi.org/10.1109/access.2019.2963110","title":"Adaptive Nonlinear Control Algorithm for a Self-Balancing Robot","display_name":"Adaptive Nonlinear Control Algorithm for a Self-Balancing Robot","publication_year":2019,"publication_date":"2019-12-30","ids":{"openalex":"https://openalex.org/W2998532426","doi":"https://doi.org/10.1109/access.2019.2963110","mag":"2998532426"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2963110","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2963110","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08945362.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08945362.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079654694","display_name":"Yun Su","orcid":"https://orcid.org/0000-0003-0217-4373"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yun Su","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","Shenyang Institute of Automation, University of Chinese Academy of Sciences, Beijing, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Shenyang Institute of Automation, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I4210165038"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112109933","display_name":"Ting Wang","orcid":"https://orcid.org/0000-0001-9553-5232"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ting Wang","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100657818","display_name":"Kai Zhang","orcid":"https://orcid.org/0000-0002-3919-328X"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Zhang","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100761068","display_name":"Chen Yao","orcid":"https://orcid.org/0000-0002-9656-1448"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Yao","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100756467","display_name":"Zhidong Wang","orcid":"https://orcid.org/0000-0001-7136-3341"},"institutions":[{"id":"https://openalex.org/I8488066","display_name":"Chiba Institute of Technology","ror":"https://ror.org/00qwnam72","country_code":"JP","type":"education","lineage":["https://openalex.org/I8488066"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Zhidong Wang","raw_affiliation_strings":["Department of Advanced Robotics, Chiba Institute of Technology, Chiba, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Chiba Institute of Technology, Chiba, Japan","institution_ids":["https://openalex.org/I8488066"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5079654694"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4210165038"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.6847,"has_fulltext":true,"cited_by_count":27,"citation_normalized_percentile":{"value":0.85072977,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"3751","last_page":"3760"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9970999956130981,"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"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9970999956130981,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9943000078201294,"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":0.9939000010490417,"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/control-theory","display_name":"Control theory (sociology)","score":0.7094360589981079},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6845904588699341},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.642346978187561},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5442885756492615},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.5317336916923523},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.46904119849205017},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4286535382270813},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.42634397745132446},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.42556071281433105},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4124268591403961},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3633161783218384},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20551255345344543},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1757589876651764},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10903719067573547}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7094360589981079},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6845904588699341},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.642346978187561},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5442885756492615},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.5317336916923523},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.46904119849205017},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4286535382270813},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.42634397745132446},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.42556071281433105},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4124268591403961},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3633161783218384},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20551255345344543},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1757589876651764},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10903719067573547},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2019.2963110","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2963110","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08945362.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:c8f74a0114894492bd0cfd5dae05d92a","is_oa":true,"landing_page_url":"https://doaj.org/article/c8f74a0114894492bd0cfd5dae05d92a","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 3751-3760 (2020)","raw_type":"article"},{"id":"pmh:oai:ir.sia.cn/:173321/27512","is_oa":false,"landing_page_url":"http://ir.sia.cn/handle/173321/27512","pdf_url":null,"source":{"id":"https://openalex.org/S4377196984","display_name":"SIA OpenIR (Chinese Academy of Sciences)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I19820366","host_organization_name":"Chinese Academy of Sciences","host_organization_lineage":["https://openalex.org/I19820366"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"\u671f\u520a\u8bba\u6587"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2963110","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2963110","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08945362.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2108702246","display_name":null,"funder_award_id":"2017YFC0822201","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G2152564228","display_name":null,"funder_award_id":"2017YFC0822203","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G3435950671","display_name":null,"funder_award_id":"and Gr","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G466649759","display_name":null,"funder_award_id":"2017Y","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G5053610798","display_name":null,"funder_award_id":"2017YFC","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G8340078520","display_name":null,"funder_award_id":"2017YF","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2998532426.pdf","grobid_xml":"https://content.openalex.org/works/W2998532426.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W905898381","https://openalex.org/W1516127453","https://openalex.org/W1987977388","https://openalex.org/W1992338761","https://openalex.org/W1999636742","https://openalex.org/W2007115778","https://openalex.org/W2015113370","https://openalex.org/W2034903360","https://openalex.org/W2035585209","https://openalex.org/W2042313396","https://openalex.org/W2049168360","https://openalex.org/W2057708396","https://openalex.org/W2087014326","https://openalex.org/W2106022757","https://openalex.org/W2117102490","https://openalex.org/W2120499270","https://openalex.org/W2121570671","https://openalex.org/W2122535864","https://openalex.org/W2135493101","https://openalex.org/W2140246545","https://openalex.org/W2149553777","https://openalex.org/W2161798039","https://openalex.org/W2230652337","https://openalex.org/W2368980444","https://openalex.org/W2391581992","https://openalex.org/W2605035259","https://openalex.org/W2802904589","https://openalex.org/W2951213374","https://openalex.org/W7023635280"],"related_works":["https://openalex.org/W2153719181","https://openalex.org/W1971748923","https://openalex.org/W1566155057","https://openalex.org/W2060986072","https://openalex.org/W2052574922","https://openalex.org/W64588465","https://openalex.org/W3120641340","https://openalex.org/W1991810297","https://openalex.org/W2032253950","https://openalex.org/W1819950161"],"abstract_inverted_index":{"We":[0],"previously":[1],"developed":[2],"a":[3,19,22,54,89],"novel":[4],"composite":[5],"wheel-leg-track":[6],"explosive":[7],"ordnance":[8],"disposal":[9],"(EOD)":[10],"robot":[11,48,61,85],"with":[12,64,173],"high":[13],"mobility,":[14],"able":[15],"to":[16,27,110,129,136,143,145,160],"switch":[17],"between":[18],"track":[20],"or":[21],"self-balancing":[23,51,166],"motion":[24,76],"mode":[25],"according":[26,109],"environmental":[28],"conditions,":[29],"named":[30],"Scorpio.":[31],"In":[32,119],"this":[33,151],"paper,":[34],"we":[35,66,121],"propose":[36],"an":[37,96,123],"adaptive":[38,97,124],"nonlinear":[39,69],"control":[40,167],"algorithm":[41,99,128],"for":[42,72,116,131],"improving":[43],"the":[44,47,50,57,60,68,81,84,101,104,111,114,137,174],"stability":[45,152],"of":[46,56,59,83,103,113,140,157,168],"in":[49,106],"mode.":[52],"First,":[53],"model":[55],"dynamics":[58],"was":[62],"established,":[63],"which":[65],"designed":[67],"cascade":[70],"controller":[71,105],"combined":[73],"balance":[74],"and":[75],"control.":[77],"With":[78],"our":[79],"system,":[80],"attitude":[82],"is":[86],"estimated":[87],"using":[88],"Kalman":[90],"filtering":[91],"algorithm.":[92],"Based":[93],"on":[94],"this,":[95],"adjustment":[98],"amends":[100],"parameters":[102],"real":[107],"time":[108],"state":[112],"robot,":[115],"improved":[117],"stability.":[118],"addition,":[120],"formulated":[122],"zero-offset":[125],"angle":[126],"identification":[127],"compensate":[130],"deviations":[132],"caused":[133],"by":[134],"changes":[135,144],"robot\u2019s":[138],"center":[139],"gravity":[141],"(due":[142],"its":[146],"mechanical":[147],"structure),":[148],"ensuring":[149],"that":[150,165],"could":[153],"be":[154,171],"maintained.":[155],"Results":[156],"experiments":[158],"conducted":[159],"verify":[161],"their":[162],"operation":[163],"show":[164],"Scorpio":[169],"can":[170],"achieved":[172],"proposed":[175],"algorithms.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":3}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}