{"id":"https://openalex.org/W4312384943","doi":"https://doi.org/10.1109/case49997.2022.9926663","title":"Robust Position Regulation of a Seesaw Actuated by a Humanoid","display_name":"Robust Position Regulation of a Seesaw Actuated by a Humanoid","publication_year":2022,"publication_date":"2022-08-20","ids":{"openalex":"https://openalex.org/W4312384943","doi":"https://doi.org/10.1109/case49997.2022.9926663"},"language":"en","primary_location":{"id":"doi:10.1109/case49997.2022.9926663","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926663","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","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/A5077177366","display_name":"Santos M. Orozco-Soto","orcid":"https://orcid.org/0000-0001-6191-4306"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Santos M. Orozco-Soto","raw_affiliation_strings":["Research and Advanced Studies Center of the National Polytechnic Institute (CINVESTAV),Automatic Control Department,Mexico City,07360"],"affiliations":[{"raw_affiliation_string":"Research and Advanced Studies Center of the National Polytechnic Institute (CINVESTAV),Automatic Control Department,Mexico City,07360","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062490362","display_name":"Juan Manuel Ibarra Zannatha","orcid":"https://orcid.org/0000-0002-0786-8326"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Juan M. Ibarra-Zannatha","raw_affiliation_strings":["Research and Advanced Studies Center of the National Polytechnic Institute (CINVESTAV),Automatic Control Department,Mexico City,07360"],"affiliations":[{"raw_affiliation_string":"Research and Advanced Studies Center of the National Polytechnic Institute (CINVESTAV),Automatic Control Department,Mexico City,07360","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067136188","display_name":"Abderrahmane Kheddar","orcid":"https://orcid.org/0000-0001-9033-9742"},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Abderrahmane Kheddar","raw_affiliation_strings":["LIRMM,Montpellier,France,34095"],"affiliations":[{"raw_affiliation_string":"LIRMM,Montpellier,France,34095","institution_ids":["https://openalex.org/I4210101743"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5077177366"],"corresponding_institution_ids":["https://openalex.org/I59361560"],"apc_list":null,"apc_paid":null,"fwci":0.3206,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.506035,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1315","last_page":"1320"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9972000122070312,"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/seesaw-molecular-geometry","display_name":"Seesaw molecular geometry","score":0.8441367745399475},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6665395498275757},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5972713828086853},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4838358461856842},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36538612842559814},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2337970733642578},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19268545508384705},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18412768840789795},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09773921966552734},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.09730717539787292}],"concepts":[{"id":"https://openalex.org/C159762639","wikidata":"https://www.wikidata.org/wiki/Q2273845","display_name":"Seesaw molecular geometry","level":3,"score":0.8441367745399475},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6665395498275757},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5972713828086853},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4838358461856842},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36538612842559814},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2337970733642578},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19268545508384705},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18412768840789795},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09773921966552734},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.09730717539787292},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C186453547","wikidata":"https://www.wikidata.org/wiki/Q2126","display_name":"Neutrino","level":2,"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":2,"locations":[{"id":"doi:10.1109/case49997.2022.9926663","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926663","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04717590v1","is_oa":false,"landing_page_url":"https://hal.science/hal-04717590","pdf_url":null,"source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"CASE 2022 - IEEE 18th International Conference on Automation Science and Engineering, Aug 2022, Mexico City, Mexico. pp.1315-1320, ⟨10.1109/CASE49997.2022.9926663⟩","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2075524039","https://openalex.org/W2096437484","https://openalex.org/W2108729202","https://openalex.org/W2146635369","https://openalex.org/W2420367108","https://openalex.org/W2481444856","https://openalex.org/W2588016079","https://openalex.org/W2784165308","https://openalex.org/W2900391154","https://openalex.org/W2963181245","https://openalex.org/W2967793392","https://openalex.org/W4210939600","https://openalex.org/W4242963430","https://openalex.org/W6747414987"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2497468103","https://openalex.org/W3147366289","https://openalex.org/W160677519","https://openalex.org/W3207455176","https://openalex.org/W3004732674","https://openalex.org/W2164797156","https://openalex.org/W2262532587","https://openalex.org/W1999832398"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,25,43,46,57,60,68,87,90,94,100,115,137,141,149],"implementation":[4],"of":[5,28,67,89,139,148],"a":[6,12,29,33,39,74,110,119,128],"robust":[7,151],"control":[8,83],"technique":[9,96],"applied":[10,108],"within":[11],"standard":[13],"multi-objective":[14],"robot":[15],"controller":[16,106],"for":[17],"humanoid":[18,34,44,117],"robots.":[19],"The":[20,104,132],"challenge":[21,138],"is":[22,38,70,84,97],"to":[23,48,55,109],"regulate":[24],"angular":[26],"position":[27],"seesaw":[30,61,69,121,142],"actuated":[31],"by":[32,114,146],"on":[35,78],"it,":[36],"which":[37],"complex":[40],"multitask":[41],"involving":[42],"balance,":[45],"motion":[47,62],"project":[49],"its":[50,53],"weight":[51],"into":[52],"feet":[54],"move":[56],"seesaw,":[58],"and":[59,118,123],"itself.":[63],"An":[64],"accurate":[65],"model":[66,112],"not":[71],"available,":[72],"therefore,":[73],"model-free":[75],"approach":[76],"based":[77],"super":[79],"twisting":[80],"sliding":[81],"mode":[82],"proposed;":[85],"besides,":[86],"stability":[88],"closed-loop":[91],"system":[92],"with":[93],"proposed":[95,105,150],"proved":[98],"using":[99,127],"Lyapunov\u2019s":[101],"direct":[102],"method.":[103],"was":[107,125,143],"multi-robot":[111],"compound":[113],"HRP-4":[116],"passive":[120],"model,":[122],"it":[124],"tested":[126],"physics-engine":[129],"simulation":[130],"environment.":[131],"presented":[133],"results":[134],"show":[135],"that":[136],"regulating":[140],"successfully":[144],"achieved":[145],"means":[147],"control.":[152]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}