{"id":"https://openalex.org/W2969012092","doi":"https://doi.org/10.1109/med.2019.8798558","title":"Energy-based design of elastic joints for inverted pendulum systems with input saturation","display_name":"Energy-based design of elastic joints for inverted pendulum systems with input saturation","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2969012092","doi":"https://doi.org/10.1109/med.2019.8798558","mag":"2969012092"},"language":"en","primary_location":{"id":"doi:10.1109/med.2019.8798558","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2019.8798558","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 27th Mediterranean Conference on Control and Automation (MED)","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/A5107048790","display_name":"Enrico Franco","orcid":"https://orcid.org/0000-0001-9991-7377"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"E. Franco","raw_affiliation_strings":["Mechanical Engineering Department, Imperial College London, UK"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5107048790"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":0.1679,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.48001762,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"7","last_page":"12"},"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":0.9997000098228455,"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":0.9997000098228455,"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":0.9623000025749207,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9251999855041504,"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/inverted-pendulum","display_name":"Inverted pendulum","score":0.8712191581726074},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6967719793319702},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.6448473930358887},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5444633960723877},{"id":"https://openalex.org/keywords/transient","display_name":"Transient (computer programming)","score":0.5159576535224915},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.5146545171737671},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49179938435554504},{"id":"https://openalex.org/keywords/saturation","display_name":"Saturation (graph theory)","score":0.48156312108039856},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.4658435583114624},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.41141384840011597},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34335875511169434},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32890865206718445},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2599177360534668},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.2204330563545227},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1533406376838684},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.13621461391448975},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13449722528457642},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09045714139938354}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.8712191581726074},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6967719793319702},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.6448473930358887},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5444633960723877},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.5159576535224915},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.5146545171737671},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49179938435554504},{"id":"https://openalex.org/C9930424","wikidata":"https://www.wikidata.org/wiki/Q7426587","display_name":"Saturation (graph theory)","level":2,"score":0.48156312108039856},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.4658435583114624},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.41141384840011597},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34335875511169434},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32890865206718445},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2599177360534668},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.2204330563545227},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1533406376838684},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13621461391448975},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13449722528457642},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09045714139938354},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/med.2019.8798558","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2019.8798558","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 27th Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/72014","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/72014","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"27th Mediterranean Conference on Control and Automation","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8899999856948853,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G1934935867","display_name":null,"funder_award_id":"Engineering and Physical Sciences R","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G7629273409","display_name":"DEFCOBOT (Design for Control of Flexible Robots)","funder_award_id":"EP/R009708/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8721530429","display_name":null,"funder_award_id":"EP/R009708/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8895942654","display_name":null,"funder_award_id":"Imperial College","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320320283","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10"},{"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":22,"referenced_works":["https://openalex.org/W1542977439","https://openalex.org/W2005078355","https://openalex.org/W2009213991","https://openalex.org/W2009674435","https://openalex.org/W2041521369","https://openalex.org/W2081727243","https://openalex.org/W2093871792","https://openalex.org/W2104058102","https://openalex.org/W2125968092","https://openalex.org/W2171676780","https://openalex.org/W2491605582","https://openalex.org/W2541344793","https://openalex.org/W2550051559","https://openalex.org/W2618836636","https://openalex.org/W2749084618","https://openalex.org/W2774553335","https://openalex.org/W2789029199","https://openalex.org/W2888429239","https://openalex.org/W2890027432","https://openalex.org/W2898408584","https://openalex.org/W6729651909","https://openalex.org/W6743133525"],"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/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W962423920","https://openalex.org/W3135136999"],"abstract_inverted_index":{"This":[0],"work":[1],"investigates":[2],"the":[3,17,46,50,57,60],"balancing":[4],"control":[5,65],"of":[6,19,59],"underactuated":[7],"inverted":[8],"pendulum":[9,48],"systems":[10],"with":[11,29],"input":[12],"saturation.":[13],"To":[14],"this":[15],"end,":[16],"design":[18,36],"elastic":[20],"joints":[21],"according":[22],"to":[23],"potential-energy":[24],"shaping":[25],"principles":[26],"is":[27],"combined":[28],"energy-shaping":[30],"control.":[31],"As":[32],"a":[33],"result,":[34],"analytical":[35],"guidelines":[37],"are":[38],"synthesized":[39],"and":[40,49],"implemented":[41],"for":[42],"two":[43],"classical":[44],"examples:":[45],"inertia-wheel":[47],"Acrobot":[51],"system.":[52],"A":[53],"simulation":[54],"study":[55],"demonstrates":[56],"effectiveness":[58],"proposed":[61],"approach":[62],"in":[63],"reducing":[64],"effort":[66],"while":[67],"preserving":[68],"transient":[69],"performance.":[70]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-10T00:00:00"}
