{"id":"https://openalex.org/W3045033048","doi":"https://doi.org/10.1109/iros45743.2020.9341348","title":"Robust Control Synthesis and Verification for Wire-Borne Underactuated Brachiating Robots Using Sum-of-Squares Optimization","display_name":"Robust Control Synthesis and Verification for Wire-Borne Underactuated Brachiating Robots Using Sum-of-Squares Optimization","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3045033048","doi":"https://doi.org/10.1109/iros45743.2020.9341348","mag":"3045033048"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341348","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","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2007.12047","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084689056","display_name":"Siavash Farzan","orcid":"https://orcid.org/0000-0001-6415-5560"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siavash Farzan","raw_affiliation_strings":["Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA","#N#\u2021#N#Georgia Institute of Technology#N#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"#N#\u2021#N#Georgia Institute of Technology#N#","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110691789","display_name":"Ai-Ping Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I4388482740","display_name":"Georgia Tech Research Institute","ror":"https://ror.org/04qfrh333","country_code":null,"type":"facility","lineage":["https://openalex.org/I130701444","https://openalex.org/I4388482740"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ai-Ping Hu","raw_affiliation_strings":["Georgia Tech Research Institute, Atlanta, GA, USA","Georgia Tech Research Institute,Atlanta,GA,USA,30332"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Tech Research Institute, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444","https://openalex.org/I4388482740"]},{"raw_affiliation_string":"Georgia Tech Research Institute,Atlanta,GA,USA,30332","institution_ids":["https://openalex.org/I130701444","https://openalex.org/I4388482740"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002820722","display_name":"Michael Bick","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Bick","raw_affiliation_strings":["Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","Georgia Institute of Technology,Woodruff School of Mechanical Engineering,Atlanta,GA,USA,30332"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Georgia Institute of Technology,Woodruff School of Mechanical Engineering,Atlanta,GA,USA,30332","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010566772","display_name":"Jonathan Rogers","orcid":"https://orcid.org/0000-0001-7196-1691"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan Rogers","raw_affiliation_strings":["Guggenheim School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","Georgia Institute of Technology,Guggenheim School of Aerospace Engineering,Atlanta,GA,USA,30332"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guggenheim School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Georgia Institute of Technology,Guggenheim School of Aerospace Engineering,Atlanta,GA,USA,30332","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"7744","last_page":"7751"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.998199999332428,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9976000189781189,"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/control-theory","display_name":"Control theory (sociology)","score":0.8154809474945068},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.751012921333313},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.6246674656867981},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6224691867828369},{"id":"https://openalex.org/keywords/unobservable","display_name":"Unobservable","score":0.6055792570114136},{"id":"https://openalex.org/keywords/semidefinite-programming","display_name":"Semidefinite programming","score":0.5937907695770264},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.552320659160614},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5486491918563843},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5064994096755981},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.5019216537475586},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4854791462421417},{"id":"https://openalex.org/keywords/explained-sum-of-squares","display_name":"Explained sum of squares","score":0.47016140818595886},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.44873976707458496},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4474866986274719},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.41818171739578247},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3741321563720703},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3253633379936218},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.29754889011383057},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.265889048576355},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24686264991760254},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23152956366539001}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8154809474945068},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.751012921333313},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.6246674656867981},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6224691867828369},{"id":"https://openalex.org/C2780695315","wikidata":"https://www.wikidata.org/wiki/Q3799040","display_name":"Unobservable","level":2,"score":0.6055792570114136},{"id":"https://openalex.org/C101901036","wikidata":"https://www.wikidata.org/wiki/Q2269096","display_name":"Semidefinite programming","level":2,"score":0.5937907695770264},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.552320659160614},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5486491918563843},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5064994096755981},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.5019216537475586},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4854791462421417},{"id":"https://openalex.org/C49847556","wikidata":"https://www.wikidata.org/wiki/Q3964631","display_name":"Explained sum of squares","level":2,"score":0.47016140818595886},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.44873976707458496},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4474866986274719},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.41818171739578247},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3741321563720703},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3253633379936218},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.29754889011383057},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.265889048576355},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24686264991760254},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23152956366539001},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C149782125","wikidata":"https://www.wikidata.org/wiki/Q160039","display_name":"Econometrics","level":1,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros45743.2020.9341348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341348","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:2007.12047","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2007.12047","pdf_url":"https://arxiv.org/pdf/2007.12047","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":"mag:3045033048","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2007.12047","pdf_url":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2007.12047","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2007.12047","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2007.12047","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2007.12047","pdf_url":"https://arxiv.org/pdf/2007.12047","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W653291882","https://openalex.org/W1568670172","https://openalex.org/W1967184028","https://openalex.org/W1975026089","https://openalex.org/W1992559929","https://openalex.org/W2000659221","https://openalex.org/W2010617747","https://openalex.org/W2013273426","https://openalex.org/W2027716970","https://openalex.org/W2045814149","https://openalex.org/W2048222901","https://openalex.org/W2050580019","https://openalex.org/W2059484387","https://openalex.org/W2090429571","https://openalex.org/W2096274099","https://openalex.org/W2117145719","https://openalex.org/W2119171960","https://openalex.org/W2148247550","https://openalex.org/W2167322920","https://openalex.org/W2273822880","https://openalex.org/W2502511150","https://openalex.org/W2536620281","https://openalex.org/W2772379403","https://openalex.org/W2805683059","https://openalex.org/W2884545005","https://openalex.org/W2891384060","https://openalex.org/W2909423635","https://openalex.org/W2912522929","https://openalex.org/W2913114903","https://openalex.org/W2913442728","https://openalex.org/W2962822210","https://openalex.org/W2963599370","https://openalex.org/W2966452882","https://openalex.org/W2972887175","https://openalex.org/W2972977916","https://openalex.org/W2986953180","https://openalex.org/W3120194414","https://openalex.org/W6770664673"],"related_works":["https://openalex.org/W3048574139","https://openalex.org/W2132754606","https://openalex.org/W2047641840","https://openalex.org/W2415006536","https://openalex.org/W1963892757","https://openalex.org/W2105218843","https://openalex.org/W3127136514","https://openalex.org/W2545854143","https://openalex.org/W2149661859","https://openalex.org/W2903706421","https://openalex.org/W2095569608","https://openalex.org/W2142692775","https://openalex.org/W2142266877","https://openalex.org/W1518673728","https://openalex.org/W2392375824","https://openalex.org/W1966490872","https://openalex.org/W2007345434","https://openalex.org/W2741639693","https://openalex.org/W2099313565","https://openalex.org/W2101703354"],"abstract_inverted_index":{"Control":[0],"of":[1,58,66,150],"wire-borne":[2],"underactuated":[3],"brachiating":[4,33,145],"robots":[5],"requires":[6],"a":[7,28,52,85,111,137],"robust":[8,29,121,127],"feedback":[9,30,87],"control":[10,31,88],"design":[11],"that":[12,118],"can":[13],"deal":[14],"with":[15,89,110],"dynamic":[16],"uncertainties,":[17,153],"actuator":[18,154],"constraints":[19],"and":[20,45,79,98,108,131,141,156],"unmeasurable":[21,99],"states.":[22,158],"In":[23],"this":[24],"paper,":[25],"we":[26],"develop":[27],"for":[32,56,95],"on":[34,38,41],"flexible":[35,60],"cables,":[36],"building":[37],"previous":[39],"work":[40],"optimal":[42,139],"trajectory":[43,140],"generation":[44],"time-varying":[46,86,112],"LQR":[47,113],"controller":[48,122],"design.":[49],"We":[50,73],"propose":[51],"novel":[53],"simplified":[54],"model":[55,68,96,152],"approximation":[57],"the":[59,71,102,119,143,148],"cable":[61],"dynamics,":[62],"which":[63],"enables":[64],"inclusion":[65],"parametric":[67,151],"uncertainties":[69,97],"in":[70,101,124,147],"system.":[72,103],"then":[74],"use":[75],"semidefinite":[76],"programming":[77],"(SDP)":[78],"sum-of-squares":[80],"(SOS)":[81],"optimization":[82],"to":[83,93,134],"synthesize":[84],"formal":[90],"robustness":[91],"guarantees":[92],"account":[94],"states":[100],"Through":[104],"simulation,":[105],"hardware":[106],"experiments":[107],"comparison":[109],"controller,":[114],"it":[115],"is":[116,132],"shown":[117],"proposed":[120],"results":[123],"relatively":[125],"large":[126],"backward":[128],"reachable":[129],"sets":[130],"able":[133],"reliably":[135],"track":[136],"pre-generated":[138],"achieve":[142],"desired":[144],"motion":[146],"presence":[149],"limits,":[155],"unobservable":[157]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}