{"id":"https://openalex.org/W4406856837","doi":"https://doi.org/10.1109/lra.2025.3534688","title":"Energy Shaping Control in Underactuated Robot Systems With Underactuation Degree Two","display_name":"Energy Shaping Control in Underactuated Robot Systems With Underactuation Degree Two","publication_year":2025,"publication_date":"2025-01-27","ids":{"openalex":"https://openalex.org/W4406856837","doi":"https://doi.org/10.1109/lra.2025.3534688"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3534688","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3534688","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5061127128","display_name":"Babak Salamat","orcid":"https://orcid.org/0000-0001-7262-3264"},"institutions":[{"id":"https://openalex.org/I4210106192","display_name":"Technische Hochschule Ingolstadt","ror":"https://ror.org/02bxzcy64","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210106192"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Babak Salamat","raw_affiliation_strings":["AImotion Institute, Technische Hochschule Ingolstadt, Ingolstadt, Germany"],"raw_orcid":"https://orcid.org/0000-0001-7262-3264","affiliations":[{"raw_affiliation_string":"AImotion Institute, Technische Hochschule Ingolstadt, Ingolstadt, Germany","institution_ids":["https://openalex.org/I4210106192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073722017","display_name":"Gerhard Elsbacher","orcid":"https://orcid.org/0000-0002-8297-5033"},"institutions":[{"id":"https://openalex.org/I4210106192","display_name":"Technische Hochschule Ingolstadt","ror":"https://ror.org/02bxzcy64","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210106192"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Gerhard Elsbacher","raw_affiliation_strings":["AImotion Institute, Technische Hochschule Ingolstadt, Ingolstadt, Germany"],"raw_orcid":"https://orcid.org/0000-0002-8297-5033","affiliations":[{"raw_affiliation_string":"AImotion Institute, Technische Hochschule Ingolstadt, Ingolstadt, Germany","institution_ids":["https://openalex.org/I4210106192"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046459259","display_name":"Andrea M. Tonello","orcid":"https://orcid.org/0000-0002-9873-2407"},"institutions":[{"id":"https://openalex.org/I4210166741","display_name":"University of Klagenfurt","ror":"https://ror.org/05q9m0937","country_code":"AT","type":"education","lineage":["https://openalex.org/I4210166741"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Andrea M. Tonello","raw_affiliation_strings":["Institute of Networked and Embedded Systems, Alpen-Adria University Klagenfurt, Klagenfurt, Austria"],"raw_orcid":"https://orcid.org/0000-0002-9873-2407","affiliations":[{"raw_affiliation_string":"Institute of Networked and Embedded Systems, Alpen-Adria University Klagenfurt, Klagenfurt, Austria","institution_ids":["https://openalex.org/I4210166741"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.4452,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.9551574,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"10","issue":"3","first_page":"2734","last_page":"2741"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9894999861717224,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9894999861717224,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9805999994277954,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9785000085830688,"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/underactuation","display_name":"Underactuation","score":0.94740891456604},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5293329954147339},{"id":"https://openalex.org/keywords/degree","display_name":"Degree (music)","score":0.49947452545166016},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.49126118421554565},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4335120916366577},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4149303436279297},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.35187023878097534},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20214694738388062},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18127283453941345},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1330021619796753}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.94740891456604},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5293329954147339},{"id":"https://openalex.org/C2775997480","wikidata":"https://www.wikidata.org/wiki/Q586277","display_name":"Degree (music)","level":2,"score":0.49947452545166016},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.49126118421554565},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4335120916366577},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4149303436279297},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.35187023878097534},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20214694738388062},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18127283453941345},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1330021619796753},{"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/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3534688","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3534688","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W120308165","https://openalex.org/W1488698360","https://openalex.org/W1503208682","https://openalex.org/W1988543704","https://openalex.org/W2048253740","https://openalex.org/W2077981455","https://openalex.org/W2081727243","https://openalex.org/W2093626735","https://openalex.org/W2135563145","https://openalex.org/W2137570966","https://openalex.org/W2153807823","https://openalex.org/W2291994225","https://openalex.org/W2318380274","https://openalex.org/W2491605582","https://openalex.org/W2562929359","https://openalex.org/W2589092250","https://openalex.org/W2883453303","https://openalex.org/W2913393696","https://openalex.org/W3105444552","https://openalex.org/W4387129583","https://openalex.org/W4388642465","https://openalex.org/W4396790115","https://openalex.org/W6869457185"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W4321093571","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W3135136999"],"abstract_inverted_index":{"Stabilizing":[0],"a":[1,14,19,24,46,57,91,95,102,105],"6DOF":[2,66],"underactuated":[3,67],"mechanical":[4,68],"system":[5,47],"(<inline-formula":[6],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[7],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[8],"notation=\"LaTeX\">$\\mathbb":[9],"{R}^{3}":[10],"\\times":[11],"SO(3)$</tex-math></inline-formula>)":[12],"without":[13],"cascade":[15],"structure":[16],"while":[17],"utilizing":[18],"full-state":[20],"feedback":[21],"controller":[22,43],"presents":[23],"significant":[25],"challenge.":[26],"Furthermore,":[27],"due":[28],"to":[29,59,94],"the":[30,36,60,72,83],"complexities":[31],"of":[32,38,85],"its":[33,109],"dynamics":[34],"and":[35,74],"degree":[37],"underactuation,":[39],"designing":[40],"an":[41],"energy-shaping":[42],"for":[44,65],"such":[45],"has":[48],"not":[49],"been":[50],"done":[51],"until":[52],"now.":[53],"This":[54],"letter":[55],"introduces":[56],"solution":[58,84],"potential":[61],"energy":[62],"shaping":[63],"problem":[64],"systems":[69],"by":[70],"employing":[71],"Interconnection":[73],"Damping":[75],"Assignment":[76],"Passivity-Based":[77],"Control":[78],"(IDA-PBC)":[79],"approach.":[80],"We":[81],"extend":[82],"partial":[86],"differential":[87],"equations":[88],"(PDEs)":[89],"from":[90],"2D":[92],"framework":[93],"comprehensive":[96],"3D":[97],"scenario.":[98],"Simulation":[99],"results":[100],"using":[101],"quadrotor":[103],"as":[104],"benchmark":[106],"example":[107],"demonstrate":[108],"effectiveness.":[110]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}