{"id":"https://openalex.org/W2786960220","doi":"https://doi.org/10.1109/ascc.2017.8287351","title":"Motion trajectory design for underactuated three-link gymnast robot","display_name":"Motion trajectory design for underactuated three-link gymnast robot","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2786960220","doi":"https://doi.org/10.1109/ascc.2017.8287351","mag":"2786960220"},"language":"en","primary_location":{"id":"doi:10.1109/ascc.2017.8287351","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ascc.2017.8287351","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 11th Asian Control Conference (ASCC)","raw_type":"proceedings-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/A5066359268","display_name":"Ancai Zhang","orcid":"https://orcid.org/0000-0003-0652-9979"},"institutions":[{"id":"https://openalex.org/I15823474","display_name":"Linyi University","ror":"https://ror.org/01knv0402","country_code":"CN","type":"education","lineage":["https://openalex.org/I15823474"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ancai Zhang","raw_affiliation_strings":["Key Laboratory of Complex Systems and Intelligent Computing, Universities of Shandong, Linyi, Shandong, China","School of Automation and Electrical Engineering, Linyi University, Linyi, Shandong, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Complex Systems and Intelligent Computing, Universities of Shandong, Linyi, Shandong, China","institution_ids":[]},{"raw_affiliation_string":"School of Automation and Electrical Engineering, Linyi University, Linyi, Shandong, China","institution_ids":["https://openalex.org/I15823474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101916568","display_name":"Jinhua She","orcid":"https://orcid.org/0000-0003-3165-5045"},"institutions":[{"id":"https://openalex.org/I3124059619","display_name":"China University of Geosciences","ror":"https://ror.org/04gcegc37","country_code":"CN","type":"education","lineage":["https://openalex.org/I3124059619"]},{"id":"https://openalex.org/I148798404","display_name":"Tokyo University of Technology","ror":"https://ror.org/021a26605","country_code":"JP","type":"education","lineage":["https://openalex.org/I148798404"]}],"countries":["CN","JP"],"is_corresponding":false,"raw_author_name":"Jinhua She","raw_affiliation_strings":["School of Automation, China University of Geosciences, Wuhan, Hubei, China","School of Engineering, Tokyo University of Technology, Hachioji, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"School of Automation, China University of Geosciences, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I3124059619"]},{"raw_affiliation_string":"School of Engineering, Tokyo University of Technology, Hachioji, Tokyo, Japan","institution_ids":["https://openalex.org/I148798404"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083193684","display_name":"Jianlong Qiu","orcid":"https://orcid.org/0000-0002-9886-3570"},"institutions":[{"id":"https://openalex.org/I15823474","display_name":"Linyi University","ror":"https://ror.org/01knv0402","country_code":"CN","type":"education","lineage":["https://openalex.org/I15823474"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianlong Qiu","raw_affiliation_strings":["Key Laboratory of Complex Systems and Intelligent Computing, Universities of Shandong, Linyi, Shandong, China","School of Automation and Electrical Engineering, Linyi University, Linyi, Shandong, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Complex Systems and Intelligent Computing, Universities of Shandong, Linyi, Shandong, China","institution_ids":[]},{"raw_affiliation_string":"School of Automation and Electrical Engineering, Linyi University, Linyi, Shandong, China","institution_ids":["https://openalex.org/I15823474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038583191","display_name":"Chengdong Yang","orcid":"https://orcid.org/0000-0003-3757-895X"},"institutions":[{"id":"https://openalex.org/I15823474","display_name":"Linyi University","ror":"https://ror.org/01knv0402","country_code":"CN","type":"education","lineage":["https://openalex.org/I15823474"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengdong Yang","raw_affiliation_strings":["Key Laboratory of Complex Systems and Intelligent Computing, Universities of Shandong, Linyi, Shandong, China","School of Information Science and Engineering, Linyi University, Linyi, Shandong, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Complex Systems and Intelligent Computing, Universities of Shandong, Linyi, Shandong, China","institution_ids":[]},{"raw_affiliation_string":"School of Information Science and Engineering, Linyi University, Linyi, Shandong, China","institution_ids":["https://openalex.org/I15823474"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053163831","display_name":"Lan Zhou","orcid":"https://orcid.org/0000-0002-8136-5153"},"institutions":[{"id":"https://openalex.org/I121296143","display_name":"Hunan University of Science and Technology","ror":"https://ror.org/02m9vrb24","country_code":"CN","type":"education","lineage":["https://openalex.org/I121296143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lan Zhou","raw_affiliation_strings":["School of Information and Electrical Engineering, Hunan University of Science and Technology, Xiangtan, Hunan, China"],"affiliations":[{"raw_affiliation_string":"School of Information and Electrical Engineering, Hunan University of Science and Technology, Xiangtan, Hunan, China","institution_ids":["https://openalex.org/I121296143"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5066359268"],"corresponding_institution_ids":["https://openalex.org/I15823474"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1986587,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"43","issue":null,"first_page":"1258","last_page":"1263"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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/T10879","display_name":"Robotic Locomotion and Control","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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.994700014591217,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9936000108718872,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8830314874649048},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8469128608703613},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.735170841217041},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6995669603347778},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5828530192375183},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5296216607093811},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5042237043380737},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4928863048553467},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.48364579677581787},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4189183712005615},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19767320156097412},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18895438313484192},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09474313259124756}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8830314874649048},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8469128608703613},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.735170841217041},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6995669603347778},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5828530192375183},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5296216607093811},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5042237043380737},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4928863048553467},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.48364579677581787},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4189183712005615},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19767320156097412},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18895438313484192},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09474313259124756},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ascc.2017.8287351","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ascc.2017.8287351","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 11th Asian Control Conference (ASCC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1540574895","https://openalex.org/W1944024893","https://openalex.org/W1971358616","https://openalex.org/W1977277930","https://openalex.org/W1978496066","https://openalex.org/W2022976859","https://openalex.org/W2026990987","https://openalex.org/W2030271151","https://openalex.org/W2050695691","https://openalex.org/W2058046695","https://openalex.org/W2073559194","https://openalex.org/W2090548361","https://openalex.org/W2116355994","https://openalex.org/W2140034347","https://openalex.org/W2159699010","https://openalex.org/W6632119531"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W4309225183","https://openalex.org/W2157008402","https://openalex.org/W2592302855","https://openalex.org/W2101105382","https://openalex.org/W2044900919"],"abstract_inverted_index":{"This":[0],"paper":[1],"concerns":[2],"the":[3,19,24,31,44,50,63,69,78,85,89,99],"motion":[4,41],"trajectory":[5,42,56,60,75],"design":[6,15],"for":[7,18],"an":[8,54],"underactuated":[9],"three-link":[10],"robot":[11],"(UTGR).":[12],"First,":[13],"we":[14],"a":[16,40],"controller":[17],"UTGR":[20,45,83],"system":[21,35],"based":[22,48],"on":[23,49],"system's":[25],"dynamic":[26],"structure":[27],"characteristics.":[28],"And":[29],"then,":[30],"properties":[32,52],"of":[33,43,73,82,101],"closed-loop":[34],"are":[36],"analyzed.":[37],"After":[38],"that,":[39],"is":[46],"designed":[47,59],"analyzed":[51],"and":[53,66],"inverted":[55],"idea.":[57],"The":[58],"starts":[61],"from":[62,84],"downward":[64,86],"position":[65,87,91],"ends":[67],"at":[68],"upward":[70,90],"position.":[71],"Tracking":[72],"this":[74],"can":[76],"enable":[77],"stabilization":[79],"control":[80],"objective":[81],"to":[88,92],"be":[93],"achieved.":[94],"A":[95],"numerical":[96],"example":[97],"demonstrates":[98],"effectiveness":[100],"our":[102],"proposed":[103],"theoretical":[104],"results.":[105]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}