{"id":"https://openalex.org/W3009151095","doi":"https://doi.org/10.1109/iros45743.2020.9341339","title":"Modeling and Control of a Hybrid Wheeled Jumping Robot","display_name":"Modeling and Control of a Hybrid Wheeled Jumping Robot","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3009151095","doi":"https://doi.org/10.1109/iros45743.2020.9341339","mag":"3009151095"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341339","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341339","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2003.01440","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Traiko Dinev","orcid":null},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Traiko Dinev","raw_affiliation_strings":["The University of Edinburgh,School of Informatics,Edinburgh,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Edinburgh,School of Informatics,Edinburgh,UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Songyan Xin","orcid":null},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Songyan Xin","raw_affiliation_strings":["The University of Edinburgh,School of Informatics,Edinburgh,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Edinburgh,School of Informatics,Edinburgh,UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Wolfgang Merkt","orcid":null},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Wolfgang Merkt","raw_affiliation_strings":["The University of Edinburgh,School of Informatics,Edinburgh,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Edinburgh,School of Informatics,Edinburgh,UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Vladimir Ivan","orcid":null},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Vladimir Ivan","raw_affiliation_strings":["The University of Edinburgh,School of Informatics,Edinburgh,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Edinburgh,School of Informatics,Edinburgh,UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":null,"display_name":"Sethu Vijayakumar","orcid":null},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sethu Vijayakumar","raw_affiliation_strings":["The University of Edinburgh,School of Informatics,Edinburgh,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Edinburgh,School of Informatics,Edinburgh,UK","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I98677209"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2563","last_page":"2570"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9925000071525574,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9911999702453613,"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/control-theory","display_name":"Control theory (sociology)","score":0.7318000197410583},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6937000155448914},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6553000211715698},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5968999862670898},{"id":"https://openalex.org/keywords/jumping","display_name":"Jumping","score":0.5539000034332275},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.46219998598098755},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.43299999833106995},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.3625999987125397},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.36010000109672546}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7318000197410583},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6937000155448914},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6553000211715698},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5968999862670898},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5773000121116638},{"id":"https://openalex.org/C2779897013","wikidata":"https://www.wikidata.org/wiki/Q1151752","display_name":"Jumping","level":2,"score":0.5539000034332275},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.46219998598098755},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45489999651908875},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.43299999833106995},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3625999987125397},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.36010000109672546},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.352400004863739},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3490999937057495},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3386000096797943},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.33739998936653137},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3296000063419342},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.3230000138282776},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.3203999996185303},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31779998540878296},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.3154999911785126},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.31189998984336853},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.31150001287460327},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3111000061035156},{"id":"https://openalex.org/C2778029271","wikidata":"https://www.wikidata.org/wiki/Q5421931","display_name":"Extension (predicate logic)","level":2,"score":0.3018999993801117},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.30160000920295715},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.2921999990940094},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.29170000553131104},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.26759999990463257},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2637999951839447},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.2590000033378601},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.25189998745918274}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros45743.2020.9341339","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341339","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2003.01440","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.01440","pdf_url":"https://arxiv.org/pdf/2003.01440","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/f58aaa29-4ea8-4428-bf39-19a4ba572948","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/f58aaa29-4ea8-4428-bf39-19a4ba572948","pdf_url":"https://www.research.ed.ac.uk/files/160826000/Modeling_and_Control_DINEV_DOA01072020_AFV.pdf","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Dinev, T, Xin, S, Merkt, W, Ivan, V & Vijayakumar, S 2021, Modelling and Control of a Hybrid Wheeled Jumping Robot. in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, pp. 2563 - 2570, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, United States, 25/10/20. https://doi.org/10.1109/IROS45743.2020.9341339","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:pure.ed.ac.uk:publications/f58aaa29-4ea8-4428-bf39-19a4ba572948","is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.11820/f58aaa29-4ea8-4428-bf39-19a4ba572948","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Dinev, T, Xin, S, Merkt, W, Ivan, V & Vijayakumar, S 2021, Modelling and Control of a Hybrid Wheeled Jumping Robot. in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, pp. 2563 - 2570, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, United States, 25/10/20. https://doi.org/10.1109/IROS45743.2020.9341339","raw_type":"contributionToPeriodical"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2003.01440","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.01440","pdf_url":"https://arxiv.org/pdf/2003.01440","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1127646451","display_name":null,"funder_award_id":"780684","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G3041203688","display_name":null,"funder_award_id":"EP/R026092","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8572172379","display_name":"Future AI and Robotics Hub for Space (FAIR-SPACE)","funder_award_id":"EP/R026092/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8675054711","display_name":"EPSRC Centre for Doctoral Training in Robotics and Autonomous Systems (RAS) in Edinburgh","funder_award_id":"EP/L016834/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W180478659","https://openalex.org/W593927428","https://openalex.org/W1512173993","https://openalex.org/W1717366851","https://openalex.org/W1968294545","https://openalex.org/W2003013030","https://openalex.org/W2004384056","https://openalex.org/W2017792809","https://openalex.org/W2032050671","https://openalex.org/W2121829700","https://openalex.org/W2143729862","https://openalex.org/W2169673025","https://openalex.org/W2169754477","https://openalex.org/W2583155113","https://openalex.org/W2767578104","https://openalex.org/W2788030459","https://openalex.org/W2811027829","https://openalex.org/W2909501798","https://openalex.org/W2913792742","https://openalex.org/W2951633861","https://openalex.org/W2968031102","https://openalex.org/W3003397085","https://openalex.org/W6755907941"],"related_works":[],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,72],"study":[4,81],"a":[5,9,41,75,112,120],"wheeled":[6],"robot":[7,16],"with":[8],"prismatic":[10],"extension":[11],"joint.":[12],"This":[13,52],"allows":[14],"the":[15,31,35,45,58,68,82,85,109],"to":[17,21,27,30],"build":[18],"up":[19,29],"momentum":[20],"perform":[22],"jumps":[23],"over":[24],"obstacles":[25],"and":[26,87,95,116],"swing":[28],"upright":[32],"position":[33],"after":[34],"loss":[36],"of":[37,47,67,84,114],"balance.":[38],"We":[39,62,80,107],"propose":[40],"template":[42],"model":[43,53,76,86],"for":[44],"class":[46],"such":[48,92],"two-wheeled":[49],"jumping":[50],"robots.":[51],"can":[54],"be":[55],"considered":[56],"as":[57,93],"simplest":[59],"wheeled-legged":[60],"system.":[61],"provide":[63],"an":[64],"analytical":[65],"derivation":[66],"system":[69],"dynamics":[70],"which":[71],"use":[73],"inside":[74],"predictive":[77],"controller":[78,110],"(MPC).":[79],"behavior":[83],"demonstrate":[88],"highly":[89],"dynamic":[90],"motions":[91,99],"swing-up":[94],"jumping.":[96],"Furthermore,":[97],"these":[98],"are":[100],"discovered":[101],"through":[102],"optimization":[103],"from":[104],"first":[105],"principles.":[106],"evaluate":[108],"on":[111],"variety":[113],"tasks":[115],"uneven":[117],"terrains":[118],"in":[119],"simulator.":[121]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2020-03-13T00:00:00"}