{"id":"https://openalex.org/W2152051613","doi":"https://doi.org/10.1109/iros.2007.4399389","title":"Swing up control for acrobot with compliance of high bar focused on energy interaction with each component","display_name":"Swing up control for acrobot with compliance of high bar focused on energy interaction with each component","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2152051613","doi":"https://doi.org/10.1109/iros.2007.4399389","mag":"2152051613"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399389","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399389","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5072810881","display_name":"Ryuichi Anami","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Ryuichi Anami","raw_affiliation_strings":["Tokyo Institute of Technology, Japan"],"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112012615","display_name":"Masao Kanazawa","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masao Kanazawa","raw_affiliation_strings":["Tokyo Institute of Technology, Japan"],"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043853032","display_name":"Shigeki Nakaura","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigeki Nakaura","raw_affiliation_strings":["Tokyo Institute of Technology, Japan"],"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054252577","display_name":"Mitsuji Sampei","orcid":"https://orcid.org/0000-0002-3478-8399"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitsuji Sampei","raw_affiliation_strings":["Tokyo Institute of Technology, Japan"],"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5072810881"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":0.5222,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.70916113,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"3334","last_page":"3341"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"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":0.9991000294685364,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9958999752998352,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9879000186920166,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.9005371928215027},{"id":"https://openalex.org/keywords/bar","display_name":"Bar (unit)","score":0.8098957538604736},{"id":"https://openalex.org/keywords/disadvantage","display_name":"Disadvantage","score":0.6152711510658264},{"id":"https://openalex.org/keywords/compliance","display_name":"Compliance (psychology)","score":0.5926366448402405},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5669487714767456},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.5009756088256836},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48474451899528503},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.48125311732292175},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.47666218876838684},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4416998326778412},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4135303497314453},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35180023312568665},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35152432322502136},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2005079984664917},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.18737578392028809},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1717584729194641},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1667994260787964},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10048845410346985},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.08636680245399475}],"concepts":[{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.9005371928215027},{"id":"https://openalex.org/C188721877","wikidata":"https://www.wikidata.org/wiki/Q103510","display_name":"Bar (unit)","level":2,"score":0.8098957538604736},{"id":"https://openalex.org/C2777673361","wikidata":"https://www.wikidata.org/wiki/Q5281228","display_name":"Disadvantage","level":2,"score":0.6152711510658264},{"id":"https://openalex.org/C2781460075","wikidata":"https://www.wikidata.org/wiki/Q1399332","display_name":"Compliance (psychology)","level":2,"score":0.5926366448402405},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5669487714767456},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.5009756088256836},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48474451899528503},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.48125311732292175},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.47666218876838684},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4416998326778412},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4135303497314453},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35180023312568665},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35152432322502136},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2005079984664917},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.18737578392028809},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1717584729194641},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1667994260787964},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10048845410346985},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.08636680245399475},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2007.4399389","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399389","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8999999761581421,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W2002097219","https://openalex.org/W2013232999","https://openalex.org/W2024593648","https://openalex.org/W2097035443","https://openalex.org/W2127060726","https://openalex.org/W2612240807","https://openalex.org/W3092217711","https://openalex.org/W6737365641","https://openalex.org/W6783997300"],"related_works":["https://openalex.org/W2360051520","https://openalex.org/W34871393","https://openalex.org/W2376381135","https://openalex.org/W3168108534","https://openalex.org/W1486689224","https://openalex.org/W2362400792","https://openalex.org/W2094697992","https://openalex.org/W2355688170","https://openalex.org/W2394430035","https://openalex.org/W2360170613"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"an":[3,80],"experiment":[4,81],"for":[5,9,103],"swing":[6,60],"up":[7,61],"control":[8,62],"the":[10,13,16,21,30,33,37,65,68,83,89,92],"acrobot":[11,84],"with":[12,71,104],"compliance":[14,66,96,107],"of":[15],"high":[17,34,38],"bar":[18,39],"based":[19],"on":[20,57],"energy":[22,26,54,69],"pumping":[23],"method.":[24],"The":[25],"interaction":[27,70],"exists":[28],"between":[29],"gymnast":[31],"and":[32,67,88,91,105],"bar,":[35],"because":[36],"is":[40,74,85],"bending":[41],"during":[42],"gymnastics.":[43],"Therefore,":[44],"more":[45],"efficient":[46],"motion":[47],"would":[48],"be":[49],"constructed":[50],"by":[51,94,99],"controlling":[52],"this":[53,58,78],"interaction.":[55],"Based":[56],"probability,":[59],"which":[63],"considers":[64],"each":[72],"component":[73],"proposed.":[75],"To":[76],"confirm":[77],"discussion,":[79],"using":[82,95],"carried":[86],"out,":[87],"advantage":[90],"disadvantage":[93],"are":[97],"examined":[98],"comparing":[100],"experimental":[101],"results":[102],"without":[106],"case.":[108]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}