{"id":"https://openalex.org/W3092298042","doi":"https://doi.org/10.1109/case48305.2020.9216826","title":"Model-Based Suppression Control for Liquid Vessels Carried by a Humanoid Robot While Stair-Climbing","display_name":"Model-Based Suppression Control for Liquid Vessels Carried by a Humanoid Robot While Stair-Climbing","publication_year":2020,"publication_date":"2020-08-01","ids":{"openalex":"https://openalex.org/W3092298042","doi":"https://doi.org/10.1109/case48305.2020.9216826","mag":"3092298042"},"language":"en","primary_location":{"id":"doi:10.1109/case48305.2020.9216826","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case48305.2020.9216826","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5033596369","display_name":"Jean Chagas Vaz","orcid":"https://orcid.org/0000-0002-2934-8209"},"institutions":[{"id":"https://openalex.org/I133999245","display_name":"University of Nevada, Las Vegas","ror":"https://ror.org/0406gha72","country_code":"US","type":"education","lineage":["https://openalex.org/I133999245"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jean Chagas Vaz","raw_affiliation_strings":["Department of Mechanical Engineering, University of Nevada Las Vegas (UNLV), Las Vegas, Nevada, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Nevada Las Vegas (UNLV), Las Vegas, Nevada, USA","institution_ids":["https://openalex.org/I133999245"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110190609","display_name":"Paul Oh","orcid":null},"institutions":[{"id":"https://openalex.org/I133999245","display_name":"University of Nevada, Las Vegas","ror":"https://ror.org/0406gha72","country_code":"US","type":"education","lineage":["https://openalex.org/I133999245"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paul Oh","raw_affiliation_strings":["Faculty of Mechanical Engineering, University of Nevada Las Vegas (UNLV), Las Vegas, Nevada, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, University of Nevada Las Vegas (UNLV), Las Vegas, Nevada, USA","institution_ids":["https://openalex.org/I133999245"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I133999245"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9664999842643738,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9589999914169312,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8458884954452515},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6874579191207886},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.6214280724525452},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6095661520957947},{"id":"https://openalex.org/keywords/patrolling","display_name":"Patrolling","score":0.571746289730072},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.546754002571106},{"id":"https://openalex.org/keywords/stair-climbing","display_name":"Stair climbing","score":0.5278130769729614},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5205163359642029},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.509767472743988},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4592987596988678},{"id":"https://openalex.org/keywords/slosh-dynamics","display_name":"Slosh dynamics","score":0.4164005517959595},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41459399461746216},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3995809853076935},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.34441351890563965},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07203099131584167}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8458884954452515},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6874579191207886},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.6214280724525452},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6095661520957947},{"id":"https://openalex.org/C110698143","wikidata":"https://www.wikidata.org/wiki/Q651389","display_name":"Patrolling","level":2,"score":0.571746289730072},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.546754002571106},{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.5278130769729614},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5205163359642029},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.509767472743988},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4592987596988678},{"id":"https://openalex.org/C142784634","wikidata":"https://www.wikidata.org/wiki/Q1129460","display_name":"Slosh dynamics","level":2,"score":0.4164005517959595},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41459399461746216},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3995809853076935},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34441351890563965},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07203099131584167},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case48305.2020.9216826","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case48305.2020.9216826","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.4300000071525574}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W124242247","https://openalex.org/W597602438","https://openalex.org/W1510460520","https://openalex.org/W1982920857","https://openalex.org/W2029497546","https://openalex.org/W2032211017","https://openalex.org/W2033311006","https://openalex.org/W2054408567","https://openalex.org/W2066421970","https://openalex.org/W2078971077","https://openalex.org/W2312861073","https://openalex.org/W2554423287","https://openalex.org/W2568917046","https://openalex.org/W2588796958","https://openalex.org/W2591313121","https://openalex.org/W2606702510","https://openalex.org/W2744107492","https://openalex.org/W2775771951","https://openalex.org/W2792785546","https://openalex.org/W3200868346","https://openalex.org/W4211102270","https://openalex.org/W6605074761"],"related_works":["https://openalex.org/W170273588","https://openalex.org/W2337788814","https://openalex.org/W2029973929","https://openalex.org/W2323112089","https://openalex.org/W2324058214","https://openalex.org/W3109128554","https://openalex.org/W4312590534","https://openalex.org/W4205407652","https://openalex.org/W4377138153","https://openalex.org/W2047426691"],"abstract_inverted_index":{"This":[0,53],"paper":[1],"presents":[2],"a":[3,13,27,145],"study":[4],"to":[5,45,60,76,78,88,105,127,153],"evaluate":[6],"the":[7,89,100,117,125,136,167],"effects":[8],"of":[9,30,47,72],"sloshing":[10,146,168],"phenomena":[11],"while":[12,18,129],"humanoid":[14,23,103,138],"robot":[15,126],"climbs":[16],"stairs":[17],"carrying":[19,130],"water":[20,87,131],"containers.":[21],"Currently":[22],"robots":[24,104],"can":[25],"perform":[26],"wide":[28],"range":[29],"tasks":[31,80],"including":[32],"handling":[33],"tools,":[34],"climbing":[35],"ladders,":[36],"and":[37],"patrolling":[38],"rough":[39],"terrain.":[40],"However,":[41],"when":[42,57],"it":[43],"comes":[44],"manipulation":[46],"objects":[48],"humanoids":[49,58,67],"are":[50],"fairly":[51],"limited.":[52],"becomes":[54],"more":[55],"apparent":[56],"have":[59,119],"handle":[61],"non-rigid":[62],"objects.":[63],"Although":[64],"many":[65],"full-sized":[66,137],"cost":[68],"an":[69,121,141],"extensive":[70],"amount":[71],"money,":[73],"they":[74],"fail":[75],"respond":[77],"common":[79],"during":[81],"disaster":[82],"relief":[83],"such":[84,96],"as":[85,97,140],"delivering":[86],"victims":[90],"or":[91],"possible":[92],"fires.":[93],"After":[94],"disasters":[95],"Hurricane":[98],"Maria,":[99],"need":[101],"for":[102],"assist":[106],"in":[107,151],"these":[108],"scenarios":[109],"is":[110,149],"becoming":[111],"increasingly":[112],"evident.":[113],"In":[114],"previous":[115],"work":[116],"authors":[118],"developed":[120],"algorithm":[122],"which":[123],"allows":[124],"walk":[128],"buckets.":[132],"Experiments":[133],"conducted":[134],"use":[135],"DRC-Hubo":[139],"experimental":[142],"platform.":[143],"Moreover,":[144],"reduction":[147,169],"controller":[148],"implemented":[150],"order":[152],"suppress":[154],"rocking":[155],"disturbances.":[156],"The":[157],"system":[158],"was":[159,170],"integrated":[160],"via":[161],"ROS":[162],"(Robot":[163],"Operating":[164],"System).":[165],"Additionally,":[166],"evaluated":[171],"based":[172],"on":[173],"sensor":[174],"data":[175],"evaluation.":[176]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
