{"id":"https://openalex.org/W2783702204","doi":"https://doi.org/10.1109/coase.2017.8256254","title":"Learning-based modeling and control of underactuated balance robotic systems","display_name":"Learning-based modeling and control of underactuated balance robotic systems","publication_year":2017,"publication_date":"2017-08-01","ids":{"openalex":"https://openalex.org/W2783702204","doi":"https://doi.org/10.1109/coase.2017.8256254","mag":"2783702204"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2017.8256254","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2017.8256254","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 13th IEEE 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/A5042896717","display_name":"Kuo Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kuo Chen","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Rutgers University, Piscataway, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Rutgers University, Piscataway, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090869394","display_name":"Jingang Yi","orcid":"https://orcid.org/0000-0003-0628-9098"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jingang Yi","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Rutgers University, Piscataway, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Rutgers University, Piscataway, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100668491","display_name":"Tao Liu","orcid":"https://orcid.org/0000-0003-1243-4546"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Liu","raw_affiliation_strings":["State Key Lab of Fluid Power & Mechatronic Systems and the School of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Lab of Fluid Power & Mechatronic Systems and the School of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1118","last_page":"1123"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9980000257492065,"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":0.9980000257492065,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9965000152587891,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9945999979972839,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.9490944147109985},{"id":"https://openalex.org/keywords/furuta-pendulum","display_name":"Furuta pendulum","score":0.8548516631126404},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6599318385124207},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6221822500228882},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.5899002552032471},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5725393295288086},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5403315424919128},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5280633568763733},{"id":"https://openalex.org/keywords/double-pendulum","display_name":"Double pendulum","score":0.4286212921142578},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.42301759123802185},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34142830967903137},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2998896837234497},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23127597570419312}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.9490944147109985},{"id":"https://openalex.org/C191601290","wikidata":"https://www.wikidata.org/wiki/Q5509824","display_name":"Furuta pendulum","level":5,"score":0.8548516631126404},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6599318385124207},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6221822500228882},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.5899002552032471},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5725393295288086},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5403315424919128},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5280633568763733},{"id":"https://openalex.org/C167183279","wikidata":"https://www.wikidata.org/wiki/Q1243208","display_name":"Double pendulum","level":4,"score":0.4286212921142578},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.42301759123802185},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34142830967903137},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2998896837234497},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23127597570419312},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2017.8256254","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2017.8256254","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 13th IEEE 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":21,"referenced_works":["https://openalex.org/W1490661502","https://openalex.org/W1504362584","https://openalex.org/W1556270104","https://openalex.org/W1561445488","https://openalex.org/W1974845375","https://openalex.org/W2014617596","https://openalex.org/W2018705428","https://openalex.org/W2039273302","https://openalex.org/W2082051781","https://openalex.org/W2096363181","https://openalex.org/W2105067685","https://openalex.org/W2112677883","https://openalex.org/W2124609748","https://openalex.org/W2129160171","https://openalex.org/W2154215568","https://openalex.org/W2211706531","https://openalex.org/W2214230591","https://openalex.org/W2341801823","https://openalex.org/W2502545419","https://openalex.org/W2740104662","https://openalex.org/W6682551990"],"related_works":["https://openalex.org/W3216306759","https://openalex.org/W2072662323","https://openalex.org/W2149145472","https://openalex.org/W2185666822","https://openalex.org/W3090237748","https://openalex.org/W2655681456","https://openalex.org/W2605534565","https://openalex.org/W4300467530","https://openalex.org/W2041698009","https://openalex.org/W2949841909"],"abstract_inverted_index":{"Underactuated":[0],"balance":[1,44,57],"robots":[2],"represent":[3],"a":[4,35],"broad":[5],"class":[6],"of":[7,24,41,74,79,84],"mechanical":[8],"systems,":[9],"ranging":[10],"from":[11],"Furuta":[12,96],"pendulum,":[13],"autonomous":[14],"motorcycles,":[15],"and":[16,30,38,55,89,100],"robotic":[17],"bipedal":[18],"walkers,":[19],"etc.":[20],"The":[21],"control":[22,39,90],"tasks":[23],"these":[25,80],"systems":[26],"include":[27],"trajectory":[28],"tracking":[29],"balancing":[31,62],"requirements.":[32],"We":[33,65],"present":[34],"data-driven":[36],"modeling":[37],"framework":[40],"the":[42,53,56,67,71,75,85,95],"underactuated":[43,81],"robots.":[45],"A":[46],"machine-learning":[47],"method":[48],"is":[49],"used":[50],"to":[51,94],"capture":[52],"dynamics":[54],"equilibrium":[58],"manifold":[59],"that":[60],"represents":[61],"task":[63],"target.":[64],"combine":[66],"learning-based":[68,87],"models":[69,88],"with":[70],"structural":[72],"properties":[73],"external/internal":[76],"convertible":[77],"form":[78],"systems.":[82],"Applications":[83],"proposed":[86],"design":[91],"are":[92],"applied":[93],"pendulum":[97],"by":[98],"simulation":[99],"experiments.":[101]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}