{"id":"https://openalex.org/W4386323796","doi":"https://doi.org/10.1109/isie51358.2023.10228009","title":"Model-Based Pitch Angle Compensation for Center of Gravity Variation in Underactuated System with an Arm","display_name":"Model-Based Pitch Angle Compensation for Center of Gravity Variation in Underactuated System with an Arm","publication_year":2023,"publication_date":"2023-06-19","ids":{"openalex":"https://openalex.org/W4386323796","doi":"https://doi.org/10.1109/isie51358.2023.10228009"},"language":"en","primary_location":{"id":"doi:10.1109/isie51358.2023.10228009","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isie51358.2023.10228009","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 32nd International Symposium on Industrial Electronics (ISIE)","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/A5011358667","display_name":"Hirotaka Kanazawa","orcid":null},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Hirotaka Kanazawa","raw_affiliation_strings":["Keio University,Graduate School of Integrated Design Engineering,Yokohama,Japan","Graduate School of Integrated Design Engineering, Keio University, Yokohama, Japan"],"affiliations":[{"raw_affiliation_string":"Keio University,Graduate School of Integrated Design Engineering,Yokohama,Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Graduate School of Integrated Design Engineering, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059088921","display_name":"Kosuke Ishizaki","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145315","display_name":"Toyota Industries (Japan)","ror":"https://ror.org/0503v4y98","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210145315"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kosuke Ishizaki","raw_affiliation_strings":["Toyota Industries Corporation,Obu-shi,Japan","Toyota Industries Corporation, Obu-shi, Japan"],"affiliations":[{"raw_affiliation_string":"Toyota Industries Corporation,Obu-shi,Japan","institution_ids":["https://openalex.org/I4210145315"]},{"raw_affiliation_string":"Toyota Industries Corporation, Obu-shi, Japan","institution_ids":["https://openalex.org/I4210145315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001742671","display_name":"Yasuhiro Miyata","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145315","display_name":"Toyota Industries (Japan)","ror":"https://ror.org/0503v4y98","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210145315"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuhiro Miyata","raw_affiliation_strings":["Toyota Industries Corporation,Obu-shi,Japan","Toyota Industries Corporation, Obu-shi, Japan"],"affiliations":[{"raw_affiliation_string":"Toyota Industries Corporation,Obu-shi,Japan","institution_ids":["https://openalex.org/I4210145315"]},{"raw_affiliation_string":"Toyota Industries Corporation, Obu-shi, Japan","institution_ids":["https://openalex.org/I4210145315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046313332","display_name":"Masamichi Nawa","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145315","display_name":"Toyota Industries (Japan)","ror":"https://ror.org/0503v4y98","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210145315"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masamichi Nawa","raw_affiliation_strings":["Toyota Industries Corporation,Obu-shi,Japan","Toyota Industries Corporation, Obu-shi, Japan"],"affiliations":[{"raw_affiliation_string":"Toyota Industries Corporation,Obu-shi,Japan","institution_ids":["https://openalex.org/I4210145315"]},{"raw_affiliation_string":"Toyota Industries Corporation, Obu-shi, Japan","institution_ids":["https://openalex.org/I4210145315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021147391","display_name":"Norihiko Kato","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145315","display_name":"Toyota Industries (Japan)","ror":"https://ror.org/0503v4y98","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210145315"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Norihiko Kato","raw_affiliation_strings":["Toyota Industries Corporation,Obu-shi,Japan","Toyota Industries Corporation, Obu-shi, Japan"],"affiliations":[{"raw_affiliation_string":"Toyota Industries Corporation,Obu-shi,Japan","institution_ids":["https://openalex.org/I4210145315"]},{"raw_affiliation_string":"Toyota Industries Corporation, Obu-shi, Japan","institution_ids":["https://openalex.org/I4210145315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076792354","display_name":"Toshiyuki Murakami","orcid":"https://orcid.org/0000-0001-8611-9755"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshiyuki Murakami","raw_affiliation_strings":["Keio University,Department of System Design Engineering,Yokohama,Japan","Department of System Design Engineering, Keio University, Yokohama, Japan"],"affiliations":[{"raw_affiliation_string":"Keio University,Department of System Design Engineering,Yokohama,Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5011358667"],"corresponding_institution_ids":["https://openalex.org/I203951103"],"apc_list":null,"apc_paid":null,"fwci":0.2663,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.49858653,"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":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9997000098228455,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9976000189781189,"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":0.9975000023841858,"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/center-of-gravity","display_name":"Center of gravity","score":0.8838733434677124},{"id":"https://openalex.org/keywords/cog","display_name":"Cog","score":0.8033775687217712},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6651331782341003},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6500186920166016},{"id":"https://openalex.org/keywords/pitch-angle","display_name":"Pitch angle","score":0.646594226360321},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5937431454658508},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5680758357048035},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5507765412330627},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5298445224761963},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.522379457950592},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5141420960426331},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4671304523944855},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.44420546293258667},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2930038571357727},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.278390109539032},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2570149898529053},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16444095969200134},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15859171748161316}],"concepts":[{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.8838733434677124},{"id":"https://openalex.org/C4661277","wikidata":"https://www.wikidata.org/wiki/Q1054157","display_name":"Cog","level":2,"score":0.8033775687217712},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6651331782341003},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6500186920166016},{"id":"https://openalex.org/C2777581452","wikidata":"https://www.wikidata.org/wiki/Q4363928","display_name":"Pitch angle","level":2,"score":0.646594226360321},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5937431454658508},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5680758357048035},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5507765412330627},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5298445224761963},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.522379457950592},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5141420960426331},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4671304523944855},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.44420546293258667},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2930038571357727},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.278390109539032},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2570149898529053},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16444095969200134},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15859171748161316},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","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/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isie51358.2023.10228009","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isie51358.2023.10228009","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 32nd International Symposium on Industrial Electronics (ISIE)","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":13,"referenced_works":["https://openalex.org/W1624853037","https://openalex.org/W2007495563","https://openalex.org/W2017792809","https://openalex.org/W2035585209","https://openalex.org/W2050625976","https://openalex.org/W2079176266","https://openalex.org/W2113933365","https://openalex.org/W2148328967","https://openalex.org/W2157383409","https://openalex.org/W2333157818","https://openalex.org/W4280641439","https://openalex.org/W4366085446","https://openalex.org/W6702677519"],"related_works":["https://openalex.org/W1988603010","https://openalex.org/W2898815460","https://openalex.org/W4302290647","https://openalex.org/W2319797310","https://openalex.org/W2698593353","https://openalex.org/W2997045072","https://openalex.org/W2996378207","https://openalex.org/W272057031","https://openalex.org/W1527333012","https://openalex.org/W2756268232"],"abstract_inverted_index":{"Two-wheeled":[0],"robots":[1],"are":[2],"expected":[3],"to":[4,54,70,79],"be":[5,94],"used":[6],"at":[7],"sites":[8],"where":[9],"humans":[10],"work":[11],"together.":[12],"The":[13,130,149,159],"subject":[14],"of":[15,42,45,151,166],"this":[16,114],"paper":[17,115],"is":[18,78,101,107,155,170,175],"a":[19,37,56,117],"two-wheeled":[20,47],"robot":[21,48],"with":[22],"an":[23],"arm,":[24,60],"which":[25],"can":[26],"take":[27],"out":[28],"loads":[29],"from":[30],"shelves":[31],"in":[32,75],"the":[33,40,46,59,61,73,76,88,91,98,104,145,152,164,173,178],"same":[34],"manner":[35],"as":[36],"human.":[38],"When":[39],"center":[41],"gravity":[43],"(CoG)":[44],"shifts":[49],"back":[50],"and":[51,97,124,137],"forth":[52],"due":[53],"placing":[55],"load":[57,174],"on":[58,177],"wheel":[62,167],"position":[63,125,168],"control":[64,83,126,169],"performance":[65,165],"deteriorates.":[66],"A":[67],"possible":[68],"method":[69,118,154],"compensate":[71],"for":[72,127],"shift":[74],"CoG":[77,99,122,140],"use":[80],"repulsive":[81],"compliance":[82],"(RCC).":[84],"However,":[85],"RCC":[86],"has":[87],"disadvantages":[89],"that":[90,119,163],"parameters":[92],"must":[93],"adjusted":[95],"experimentally":[96],"compensation":[100,123,141],"slow":[102],"because":[103],"pitch":[105,128,147],"angle":[106],"determined":[108],"dynamically.":[109],"To":[110],"address":[111],"these":[112],"disadvantages,":[113],"proposes":[116],"uses":[120],"model-based":[121,131],"angle.":[129,148],"controller":[132],"design":[133],"simplifies":[134],"parameter":[135],"setting":[136],"achieves":[138],"fast":[139],"by":[142],"statically":[143],"determining":[144],"desired":[146],"validity":[150],"proposed":[153],"confirmed":[156],"through":[157],"experiments.":[158],"obtained":[160],"results":[161],"show":[162],"improved":[171],"when":[172],"placed":[176],"arm.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}