{"id":"https://openalex.org/W4388737099","doi":"https://doi.org/10.1109/iecon51785.2023.10312617","title":"Adaptive and Robust Terrain Classification Control Algorithm for a Spherical Robot","display_name":"Adaptive and Robust Terrain Classification Control Algorithm for a Spherical Robot","publication_year":2023,"publication_date":"2023-10-16","ids":{"openalex":"https://openalex.org/W4388737099","doi":"https://doi.org/10.1109/iecon51785.2023.10312617"},"language":"en","primary_location":{"id":"doi:10.1109/iecon51785.2023.10312617","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon51785.2023.10312617","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society","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/A5101684908","display_name":"Yixu Wang","orcid":"https://orcid.org/0000-0001-9519-5063"},"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"]},{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yixu Wang","raw_affiliation_strings":["Institute of Cyber Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China","State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China","institution_ids":["https://openalex.org/I76130692","https://openalex.org/I4391767838"]},{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100376138","display_name":"Yifan Liu","orcid":"https://orcid.org/0000-0001-8866-6322"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"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":"Yifan Liu","raw_affiliation_strings":["Institute of Cyber Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China","State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China","institution_ids":["https://openalex.org/I76130692","https://openalex.org/I4391767838"]},{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101268026","display_name":"Boyu Lin","orcid":"https://orcid.org/0009-0003-3495-3707"},"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"]},{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Boyu Lin","raw_affiliation_strings":["Institute of Cyber Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China","State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China","institution_ids":["https://openalex.org/I76130692","https://openalex.org/I4391767838"]},{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100690711","display_name":"Xiaoqing Guan","orcid":"https://orcid.org/0000-0003-3398-0415"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"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":"Xiaoqing Guan","raw_affiliation_strings":["Institute of Cyber Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China","State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China","institution_ids":["https://openalex.org/I76130692","https://openalex.org/I4391767838"]},{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100698765","display_name":"Tao Hu","orcid":"https://orcid.org/0000-0002-6630-2808"},"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"]},{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Hu","raw_affiliation_strings":["Institute of Cyber Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China","State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China","institution_ids":["https://openalex.org/I76130692","https://openalex.org/I4391767838"]},{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101538149","display_name":"Ziang Zhang","orcid":"https://orcid.org/0000-0002-4551-3489"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"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":"Ziang Zhang","raw_affiliation_strings":["Institute of Cyber Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China","State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China","institution_ids":["https://openalex.org/I76130692","https://openalex.org/I4391767838"]},{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088638731","display_name":"You Wang","orcid":"https://orcid.org/0000-0003-0266-0224"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"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":"You Wang","raw_affiliation_strings":["Institute of Cyber Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China","State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China","institution_ids":["https://openalex.org/I76130692","https://openalex.org/I4391767838"]},{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100406295","display_name":"Guang Li","orcid":"https://orcid.org/0000-0002-1253-3985"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"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":"Guang Li","raw_affiliation_strings":["Institute of Cyber Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China","State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China","institution_ids":["https://openalex.org/I76130692","https://openalex.org/I4391767838"]},{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5101684908"],"corresponding_institution_ids":["https://openalex.org/I4391767838","https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":0.3756,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.60734154,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","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"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9922000169754028,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9919999837875366,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8999584913253784},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6791244149208069},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.674843430519104},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5916799306869507},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5817270874977112},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5315000414848328},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4713696241378784},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43969425559043884},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.43921712040901184},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4343530535697937},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.43420544266700745},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4218248724937439},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3234974145889282},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2254747450351715},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.06833663582801819}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8999584913253784},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6791244149208069},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.674843430519104},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5916799306869507},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5817270874977112},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5315000414848328},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4713696241378784},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43969425559043884},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.43921712040901184},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4343530535697937},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.43420544266700745},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4218248724937439},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3234974145889282},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2254747450351715},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.06833663582801819},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/iecon51785.2023.10312617","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon51785.2023.10312617","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society","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":17,"referenced_works":["https://openalex.org/W1516977497","https://openalex.org/W2326864477","https://openalex.org/W2331442942","https://openalex.org/W2755929692","https://openalex.org/W2907547901","https://openalex.org/W2921349194","https://openalex.org/W2972943615","https://openalex.org/W3049673408","https://openalex.org/W4200225307","https://openalex.org/W4205997815","https://openalex.org/W4213316382","https://openalex.org/W4239178040","https://openalex.org/W4281659317","https://openalex.org/W4285196882","https://openalex.org/W4312641674","https://openalex.org/W4361002446","https://openalex.org/W6701348730"],"related_works":["https://openalex.org/W962423920","https://openalex.org/W2387968248","https://openalex.org/W2120821724","https://openalex.org/W2350715914","https://openalex.org/W1992962589","https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W2979398413","https://openalex.org/W1532677580","https://openalex.org/W2386719143"],"abstract_inverted_index":{"This":[0],"article":[1],"proposes":[2],"an":[3],"adaptive":[4],"and":[5,42,64],"robust":[6],"terrain":[7,44,73],"classification":[8,45,74,89],"control":[9,23,90],"algorithm":[10,67,91],"for":[11,31],"a":[12,43],"pendulum-driven":[13],"spherical":[14,100],"robot,":[15],"aiming":[16],"to":[17,102,107],"solve":[18],"the":[19,28,51,55,61,72,87,99,104],"problem":[20],"of":[21,54],"insufficient":[22],"accuracy":[24],"caused":[25],"by":[26],"using":[27],"same":[29],"controller":[30,106],"different":[32,96],"terrains.":[33],"The":[34],"common":[35],"terrains":[36],"are":[37,76],"classified":[38],"into":[39],"three":[40,79],"categories,":[41],"dataset":[46],"is":[47],"established":[48],"based":[49],"on":[50],"vibration":[52],"signal":[53],"robot.":[56],"Using":[57],"LightGBM,":[58],"combined":[59],"with":[60,78],"feature":[62],"window":[63,65],"voter":[66],"proposed":[68,80,88],"in":[69,95],"this":[70],"article,":[71],"results":[75,84],"corresponded":[77],"controllers.":[81],"Physical":[82],"experiment":[83],"show":[85],"that":[86],"can":[92],"work":[93],"stably":[94],"terrains,":[97],"guiding":[98],"robot":[101],"select":[103],"optimal":[105],"improve":[108],"its":[109],"motion":[110],"performance.":[111]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}