{"id":"https://openalex.org/W1491284977","doi":"https://doi.org/10.1109/aim.2015.7222739","title":"A generalized underactuated robot system inversion method using Hamiltonian formalism","display_name":"A generalized underactuated robot system inversion method using Hamiltonian formalism","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1491284977","doi":"https://doi.org/10.1109/aim.2015.7222739","mag":"1491284977"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2015.7222739","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2015.7222739","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5000848805","display_name":"Joel Stephen Short","orcid":"https://orcid.org/0000-0001-8364-874X"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Joel Stephen Short","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore","Department of Mechanical Engineering, National University of Singapore, 9 Engineering Dr. 1, Singapore 117576"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, 9 Engineering Dr. 1, Singapore 117576","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109147652","display_name":"A.N. Poo","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I4210091207","display_name":"Singapore Institute of Manufacturing Technology","ror":"https://ror.org/00f44np30","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I4210091207","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Aun Neow Poo","raw_affiliation_strings":["Department of Mechanical Engineering, SIMTech-NUS Joint Lab (Industrial Robotics), Singapore","Department of Mechanical Engineering, National University of Singapore, 9 Engineering Dr. 1, Singapore 117576"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, SIMTech-NUS Joint Lab (Industrial Robotics), Singapore","institution_ids":["https://openalex.org/I4210091207"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, 9 Engineering Dr. 1, Singapore 117576","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046787727","display_name":"Chow Yin Lai","orcid":"https://orcid.org/0000-0002-9632-6624"},"institutions":[{"id":"https://openalex.org/I4210091207","display_name":"Singapore Institute of Manufacturing Technology","ror":"https://ror.org/00f44np30","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I4210091207","https://openalex.org/I91275662"]},{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chow Yin Lai","raw_affiliation_strings":["Singapore Institute of Manufacturing Technology, SIMTech-NUS Joint Lab (Industrial Robotics), Singapore","Singapore Institute of Manufacturing Technology, Agency for Science, Technology and Research, Singapore 638075"],"affiliations":[{"raw_affiliation_string":"Singapore Institute of Manufacturing Technology, SIMTech-NUS Joint Lab (Industrial Robotics), Singapore","institution_ids":["https://openalex.org/I4210091207"]},{"raw_affiliation_string":"Singapore Institute of Manufacturing Technology, Agency for Science, Technology and Research, Singapore 638075","institution_ids":["https://openalex.org/I115228651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067399179","display_name":"Pey Yuen Tao","orcid":"https://orcid.org/0000-0001-7986-2081"},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I4210091207","display_name":"Singapore Institute of Manufacturing Technology","ror":"https://ror.org/00f44np30","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I4210091207","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Pey Yuen Tao","raw_affiliation_strings":["Singapore Institute of Manufacturing Technology, SIMTech-NUS Joint Lab (Industrial Robotics), Singapore","Singapore Institute of Manufacturing Technology, Agency for Science, Technology and Research, Singapore 638075"],"affiliations":[{"raw_affiliation_string":"Singapore Institute of Manufacturing Technology, SIMTech-NUS Joint Lab (Industrial Robotics), Singapore","institution_ids":["https://openalex.org/I4210091207"]},{"raw_affiliation_string":"Singapore Institute of Manufacturing Technology, Agency for Science, Technology and Research, Singapore 638075","institution_ids":["https://openalex.org/I115228651"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064469965","display_name":"Marcelo H. Ang","orcid":"https://orcid.org/0000-0001-8277-6408"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I4210091207","display_name":"Singapore Institute of Manufacturing Technology","ror":"https://ror.org/00f44np30","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I4210091207","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Marcelo H Ang","raw_affiliation_strings":["Department of Mechanical Engineering, SIMTech-NUS Joint Lab (Industrial Robotics), Singapore","Department of Mechanical Engineering, National University of Singapore, 9 Engineering Dr. 1, Singapore 117576"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, SIMTech-NUS Joint Lab (Industrial Robotics), Singapore","institution_ids":["https://openalex.org/I4210091207"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, 9 Engineering Dr. 1, Singapore 117576","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5000848805"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":0.3405,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.62216081,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1415","last_page":"1420"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9993000030517578,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9993000030517578,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9980999827384949,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9929999709129333,"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/robot","display_name":"Robot","score":0.6165224313735962},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.560025691986084},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5592277646064758},{"id":"https://openalex.org/keywords/inversion","display_name":"Inversion (geology)","score":0.5484281182289124},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.5483027100563049},{"id":"https://openalex.org/keywords/hamiltonian","display_name":"Hamiltonian (control theory)","score":0.5042990446090698},{"id":"https://openalex.org/keywords/formalism","display_name":"Formalism (music)","score":0.4935828447341919},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47692200541496277},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.47367435693740845},{"id":"https://openalex.org/keywords/hamiltonian-system","display_name":"Hamiltonian system","score":0.46118953824043274},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4408462941646576},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.34181204438209534},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3404884338378906},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2761509418487549},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.2661484181880951},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.13697302341461182},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10449051856994629}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6165224313735962},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.560025691986084},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5592277646064758},{"id":"https://openalex.org/C1893757","wikidata":"https://www.wikidata.org/wiki/Q3653001","display_name":"Inversion (geology)","level":3,"score":0.5484281182289124},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.5483027100563049},{"id":"https://openalex.org/C130787639","wikidata":"https://www.wikidata.org/wiki/Q5645293","display_name":"Hamiltonian (control theory)","level":2,"score":0.5042990446090698},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.4935828447341919},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47692200541496277},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.47367435693740845},{"id":"https://openalex.org/C121770821","wikidata":"https://www.wikidata.org/wiki/Q2072471","display_name":"Hamiltonian system","level":2,"score":0.46118953824043274},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4408462941646576},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.34181204438209534},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3404884338378906},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2761509418487549},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2661484181880951},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.13697302341461182},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10449051856994629},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"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/C109007969","wikidata":"https://www.wikidata.org/wiki/Q749565","display_name":"Structural basin","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/aim.2015.7222739","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2015.7222739","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},{"id":"pmh:oai:alma.61RMIT_INST:11247812190001341","is_oa":false,"landing_page_url":"http://doi.org/10.1109/AIM.2015.7222739","pdf_url":null,"source":{"id":"https://openalex.org/S4306402074","display_name":"RMIT Research Repository (RMIT University Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82951845","host_organization_name":"RMIT University","host_organization_lineage":["https://openalex.org/I82951845"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"pmh:oai:figshare.com:article/27395787","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/27395787","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8999999761581421,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1510003436","https://openalex.org/W1550190851","https://openalex.org/W1560270123","https://openalex.org/W1970141796","https://openalex.org/W1986090102","https://openalex.org/W1990257709","https://openalex.org/W2017810429","https://openalex.org/W2032579218","https://openalex.org/W2115764304","https://openalex.org/W2140020305","https://openalex.org/W2577663557","https://openalex.org/W3023192486","https://openalex.org/W3038698521","https://openalex.org/W4386458728"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W33907905","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W2286391053"],"abstract_inverted_index":{"A":[0],"new":[1],"generalized":[2,41],"method":[3,53,85],"of":[4,13,20,25,49,68,77,83,96],"stable":[5,74],"model":[6,75],"inversion":[7,76],"is":[8,27,43,102],"presented":[9,103],"with":[10,61],"the":[11,17,65,73,84,97,106],"aim":[12],"providing":[14],"solutions":[15],"for":[16,72],"feedforward":[18,99],"control":[19,100],"underactuated":[21],"robots.":[22],"The":[23,52,81],"area":[24],"application":[26],"in":[28],"SISO":[29],"and":[30,91],"MIMO":[31],"systems":[32],"within":[33],"robotics":[34],"which":[35],"contain":[36],"only":[37],"scleronomous":[38],"constraints.":[39],"This":[40],"restriction":[42],"discussed":[44],"followed":[45],"by":[46],"a":[47,55,78],"justification":[48],"its":[50],"sufficiency.":[51],"uses":[54],"boundary":[56],"value":[57],"problem":[58],"framework":[59],"along":[60],"Hamiltonian":[62],"formalism,":[63],"representing":[64],"dynamic":[66],"equations":[67],"motion,":[69],"to":[70,104],"solve":[71],"robotic":[79],"system.":[80],"benefits":[82],"include":[86],"energy":[87],"savings,":[88],"enhanced":[89],"safety,":[90],"robot":[92,98],"simplification.":[93],"An":[94],"example":[95],"solution":[101],"conclude":[105],"work.":[107]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
