{"id":"https://openalex.org/W2554962600","doi":"https://doi.org/10.1109/coase.2016.7743570","title":"Tip-over prevention control of a teleoperated excavator based on ZMP prediction","display_name":"Tip-over prevention control of a teleoperated excavator based on ZMP prediction","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2554962600","doi":"https://doi.org/10.1109/coase.2016.7743570","mag":"2554962600"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2016.7743570","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2016.7743570","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 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/A5086473764","display_name":"Kosuke Shigematsu","orcid":null},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kosuke Shigematsu","raw_affiliation_strings":["Graduate School of Systems and Information Engineering, University of Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Systems and Information Engineering, University of Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103627370","display_name":"Takashi Tsubouchi","orcid":null},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takashi Tsubouchi","raw_affiliation_strings":["Graduate School of Systems and Information Engineering, University of Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Systems and Information Engineering, University of Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015359930","display_name":"Shigeru Sarata","orcid":null},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigeru Sarata","raw_affiliation_strings":["Graduate School of Systems and Information Engineering, University of Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Systems and Information Engineering, University of Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5086473764"],"corresponding_institution_ids":["https://openalex.org/I146399215"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.14211999,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1380","last_page":"1386"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9988999962806702,"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"}},"topics":[{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9988999962806702,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9986000061035156,"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/T14011","display_name":"Elevator Systems and Control","score":0.9983000159263611,"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/excavator","display_name":"Excavator","score":0.9929525852203369},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.9004073143005371},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.7187865972518921},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.666115939617157},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.529056191444397},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.5271303653717041},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5113217830657959},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.47217386960983276},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4112223982810974},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3725687265396118},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.34458237886428833},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34337377548217773},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29837876558303833},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.16277086734771729},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15866297483444214},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14690712094306946},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08210471272468567},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0657891035079956}],"concepts":[{"id":"https://openalex.org/C141392084","wikidata":"https://www.wikidata.org/wiki/Q182661","display_name":"Excavator","level":2,"score":0.9929525852203369},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9004073143005371},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.7187865972518921},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.666115939617157},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.529056191444397},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.5271303653717041},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5113217830657959},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.47217386960983276},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4112223982810974},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3725687265396118},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34458237886428833},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34337377548217773},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29837876558303833},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.16277086734771729},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15866297483444214},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14690712094306946},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08210471272468567},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0657891035079956},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2016.7743570","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2016.7743570","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1992653875","https://openalex.org/W2021512411","https://openalex.org/W2103761676","https://openalex.org/W2115676065","https://openalex.org/W2341029590","https://openalex.org/W2537997235","https://openalex.org/W2576046709","https://openalex.org/W6675634793","https://openalex.org/W6728721013"],"related_works":["https://openalex.org/W3003601017","https://openalex.org/W2038528908","https://openalex.org/W2997898942","https://openalex.org/W2905804868","https://openalex.org/W3148734280","https://openalex.org/W2626048141","https://openalex.org/W2200580176","https://openalex.org/W2349730430","https://openalex.org/W2554962600","https://openalex.org/W2560160706"],"abstract_inverted_index":{"This":[0,17,29],"paper":[1],"describes":[2],"tip-over":[3,37,94],"prevention":[4,95],"control":[5],"of":[6,33,36,73,100],"a":[7,20,74],"teleoperated":[8,75],"excavator":[9,44,62,76,81],"based":[10,77],"on":[11,78],"zero":[12],"moment":[13],"point":[14],"(ZMP)":[15],"prediction.":[16],"method":[18,91],"predicts":[19],"future":[21],"ZMP":[22,66],"when":[23],"an":[24,43,79],"operation":[25,40,52],"input":[26,41,53],"is":[27,49,57,67],"given.":[28],"allows":[30],"the":[31,34,39,47,51,55,61,71,85,101],"determination":[32],"risk":[35,48],"by":[38,69],"before":[42],"moves.":[45],"When":[46],"detected,":[50],"to":[54,59],"actuator":[56],"modified":[58],"keep":[60],"from":[63],"falling.":[64],"Future":[65],"predicted":[68],"computing":[70],"movement":[72,82],"approximate":[80],"model":[83,98],"and":[84],"body":[86],"rocking":[87],"model.":[88],"The":[89],"proposed":[90],"successfully":[92],"demonstrates":[93],"via":[96],"scaled":[97],"experiments":[99],"hydraulic":[102],"drive.":[103]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}