{"id":"https://openalex.org/W4414432795","doi":"https://doi.org/10.1109/case58245.2025.11164072","title":"2D Balancing Controller for a Unicycling Biped via Legged Locomotion","display_name":"2D Balancing Controller for a Unicycling Biped via Legged Locomotion","publication_year":2025,"publication_date":"2025-08-17","ids":{"openalex":"https://openalex.org/W4414432795","doi":"https://doi.org/10.1109/case58245.2025.11164072"},"language":"en","primary_location":{"id":"doi:10.1109/case58245.2025.11164072","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case58245.2025.11164072","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 21st 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/A5032764199","display_name":"Dailiang Ma","orcid":"https://orcid.org/0000-0002-7407-3742"},"institutions":[{"id":"https://openalex.org/I1323276237","display_name":"Florida A&M University - Florida State University College of Engineering","ror":"https://ror.org/01v4tq883","country_code":"US","type":"education","lineage":["https://openalex.org/I103163165","https://openalex.org/I1323276237","https://openalex.org/I8248082"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Dylan Ma","raw_affiliation_strings":["FAMU-FSU College of Engineering,Department of Mechanical Engineering,Tallahassee,FL,USA,32310"],"affiliations":[{"raw_affiliation_string":"FAMU-FSU College of Engineering,Department of Mechanical Engineering,Tallahassee,FL,USA,32310","institution_ids":["https://openalex.org/I1323276237"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033990176","display_name":"Christian Hubicki","orcid":"https://orcid.org/0000-0002-2092-3772"},"institutions":[{"id":"https://openalex.org/I1323276237","display_name":"Florida A&M University - Florida State University College of Engineering","ror":"https://ror.org/01v4tq883","country_code":"US","type":"education","lineage":["https://openalex.org/I103163165","https://openalex.org/I1323276237","https://openalex.org/I8248082"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christian M. Hubicki","raw_affiliation_strings":["FAMU-FSU College of Engineering,Department of Mechanical Engineering,Tallahassee,FL,USA,32310"],"affiliations":[{"raw_affiliation_string":"FAMU-FSU College of Engineering,Department of Mechanical Engineering,Tallahassee,FL,USA,32310","institution_ids":["https://openalex.org/I1323276237"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003051611","display_name":"Taylor M. Higgins","orcid":"https://orcid.org/0000-0001-5853-2382"},"institutions":[{"id":"https://openalex.org/I1323276237","display_name":"Florida A&M University - Florida State University College of Engineering","ror":"https://ror.org/01v4tq883","country_code":"US","type":"education","lineage":["https://openalex.org/I103163165","https://openalex.org/I1323276237","https://openalex.org/I8248082"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Taylor M. Higgins","raw_affiliation_strings":["FAMU-FSU College of Engineering,Department of Mechanical Engineering,Tallahassee,FL,USA,32310"],"affiliations":[{"raw_affiliation_string":"FAMU-FSU College of Engineering,Department of Mechanical Engineering,Tallahassee,FL,USA,32310","institution_ids":["https://openalex.org/I1323276237"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5032764199"],"corresponding_institution_ids":["https://openalex.org/I1323276237"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.26406623,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2321","last_page":"2326"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9944999814033508,"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":0.9944999814033508,"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":0.9595999717712402,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9380999803543091,"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":0.7795000076293945},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6502000093460083},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6069999933242798},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.541700005531311},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.536899983882904},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.5116000175476074},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5098000168800354},{"id":"https://openalex.org/keywords/dynamic-balance","display_name":"Dynamic balance","score":0.4993000030517578},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4884999990463257}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7795000076293945},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6502000093460083},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6069999933242798},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.541700005531311},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.536899983882904},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.520799994468689},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.5116000175476074},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5098000168800354},{"id":"https://openalex.org/C166151169","wikidata":"https://www.wikidata.org/wiki/Q16946937","display_name":"Dynamic balance","level":2,"score":0.4993000030517578},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4884999990463257},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4336000084877014},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3950999975204468},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.38359999656677246},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.3490999937057495},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32280001044273376},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.3197000026702881},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.29649999737739563},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.28940001130104065},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.27799999713897705},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2754000127315521},{"id":"https://openalex.org/C2779079380","wikidata":"https://www.wikidata.org/wiki/Q333495","display_name":"Falling (accident)","level":2,"score":0.26669999957084656},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.26019999384880066},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.25929999351501465},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.258899986743927},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2567000091075897},{"id":"https://openalex.org/C108439606","wikidata":"https://www.wikidata.org/wiki/Q3305038","display_name":"Angular displacement","level":2,"score":0.2540999948978424},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2513999938964844}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case58245.2025.11164072","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case58245.2025.11164072","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 21st International Conference on Automation Science and Engineering (CASE)","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/W1601780092","https://openalex.org/W1919866320","https://openalex.org/W1969420580","https://openalex.org/W2039847020","https://openalex.org/W2092167966","https://openalex.org/W2093872036","https://openalex.org/W2101731408","https://openalex.org/W2143274550","https://openalex.org/W2151688586","https://openalex.org/W2161934626","https://openalex.org/W2767233846","https://openalex.org/W2810553302","https://openalex.org/W4211003818","https://openalex.org/W4240936493","https://openalex.org/W4384560510","https://openalex.org/W4412946966"],"related_works":[],"abstract_inverted_index":{"Legged":[0],"humanoid":[1],"robots":[2,30,36],"are":[3,69],"growing":[4],"in":[5,7,51,146],"popularity":[6],"the":[8,39,73,80,83,87,100,111,122,126,135,144,157,159,191],"commercial":[9],"space,":[10],"so":[11],"determining":[12],"how":[13],"to":[14,17,64,71,86,95,109,133,137,155,163],"control":[15],"legs":[16,74],"achieve":[18],"dynamic":[19],"balancing":[20],"is":[21],"critical.":[22],"Previous":[23],"work":[24,53],"has":[25],"been":[26],"done":[27],"on":[28],"creating":[29],"that":[31,118],"can":[32],"unicycle,":[33],"but":[34],"these":[35],"directly":[37],"actuate":[38,121],"wheel":[40,145],"or":[41],"do":[42],"not":[43],"have":[44],"fully":[45],"actuated":[46],"legs.":[47],"The":[48,90],"controller":[49],"proposed":[50],"this":[52],"uses":[54,92],"a":[55,65,76,166],"multi-body":[56],"model":[57,91],"consisting":[58],"of":[59,82,99,125,143,169,190],"three":[60],"branched":[61],"pendulums":[62,68],"connected":[63],"wheel.":[66],"Double":[67],"used":[70],"represent":[72],"while":[75,139],"single":[77],"pendulum":[78],"represents":[79],"body":[81],"biped":[84],"joined":[85],"unicycling":[88],"stand.":[89],"anthropometric":[93],"data":[94],"ensure":[96],"human-like":[97],"proportions":[98],"leg":[101],"segments.":[102],"A":[103],"linear-quadratic":[104],"regulator":[105],"(LQR)":[106],"was":[107,161],"implemented":[108],"drive":[110,134],"robotic":[112],"hip":[113],"and":[114,178],"knee":[115],"joints":[116],"such":[117],"they":[119],"would":[120],"pedal":[123],"mechanism":[124],"unicycle.":[127],"In":[128],"simulation,":[129],"we":[130],"were":[131,153],"able":[132,162],"system":[136,160],"balance":[138],"pedaling":[140],"two":[141],"rotations":[142],"under":[147],"5":[148],"seconds.":[149],"When":[150],"disturbance":[151],"torques":[152],"applied":[154,172],"oppose":[156],"motion,":[158],"recover":[164],"from":[165],"maximum":[167],"torque":[168],"1.3":[170],"Nm":[171,180],"during":[173,181],"its":[174,182],"most":[175],"robust":[176,184],"configuration":[177],"0.5":[179],"least":[183],"configuration,":[185],"both":[186],"within":[187],"10":[188],"seconds":[189],"angular":[192],"impulse.":[193]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-10T00:00:00"}