{"id":"https://openalex.org/W2015298049","doi":"https://doi.org/10.1109/mmar.2012.6347925","title":"Absolute and relative angles nonlinear control of an underactuated 5-link biped with dynamic singularities","display_name":"Absolute and relative angles nonlinear control of an underactuated 5-link biped with dynamic singularities","publication_year":2012,"publication_date":"2012-08-01","ids":{"openalex":"https://openalex.org/W2015298049","doi":"https://doi.org/10.1109/mmar.2012.6347925","mag":"2015298049"},"language":"en","primary_location":{"id":"doi:10.1109/mmar.2012.6347925","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2012.6347925","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","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/A5073847205","display_name":"Adam Wojciech Lukomski","orcid":"https://orcid.org/0000-0002-3598-1238"},"institutions":[{"id":"https://openalex.org/I155313962","display_name":"West Pomeranian University of Technology","ror":"https://ror.org/0596m7f19","country_code":"PL","type":"education","lineage":["https://openalex.org/I155313962"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Adam Wojciech Lukomski","raw_affiliation_strings":["Department of Control and Measurement, West Pomeranian University of Technology, Szczecin, Poland","Department of Control and Measurement, West Pomeranian University of Technology in Szczecin"],"affiliations":[{"raw_affiliation_string":"Department of Control and Measurement, West Pomeranian University of Technology, Szczecin, Poland","institution_ids":["https://openalex.org/I155313962"]},{"raw_affiliation_string":"Department of Control and Measurement, West Pomeranian University of Technology in Szczecin","institution_ids":["https://openalex.org/I155313962"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5073847205"],"corresponding_institution_ids":["https://openalex.org/I155313962"],"apc_list":null,"apc_paid":null,"fwci":0.4034,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.63129472,"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":"160","last_page":"165"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9987999796867371,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9959999918937683,"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":0.8283371925354004},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.760352611541748},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7432407736778259},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.685443639755249},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.648327648639679},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.576000988483429},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.43366196751594543},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4302319884300232},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.38474440574645996},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.29023611545562744},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23422494530677795},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.21721670031547546},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15481984615325928},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.1452253758907318}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8283371925354004},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.760352611541748},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7432407736778259},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.685443639755249},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.648327648639679},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.576000988483429},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.43366196751594543},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4302319884300232},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.38474440574645996},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29023611545562744},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23422494530677795},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.21721670031547546},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15481984615325928},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.1452253758907318},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mmar.2012.6347925","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2012.6347925","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5299999713897705}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W13678124","https://openalex.org/W64523597","https://openalex.org/W239392143","https://openalex.org/W1487127700","https://openalex.org/W1504362584","https://openalex.org/W1564897360","https://openalex.org/W2016088733","https://openalex.org/W2040069703","https://openalex.org/W2110844638","https://openalex.org/W2128131727","https://openalex.org/W2141132031","https://openalex.org/W2381269752","https://openalex.org/W4233896639","https://openalex.org/W6660361976"],"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/W3135136999","https://openalex.org/W2365776705"],"abstract_inverted_index":{"The":[0,26],"feedback":[1],"linearisation":[2],"technique":[3],"is":[4,20,37,43],"used":[5,23],"in":[6,50],"order":[7],"to":[8],"control":[9],"an":[10],"underactuated":[11],"5-link":[12],"biped":[13],"model.":[14],"A":[15],"dynamic":[16],"model":[17],"with":[18],"impacts":[19],"described":[21],"and":[22,40],"for":[24,34,45],"simulation.":[25],"choice":[27],"of":[28,48],"either":[29],"absolute":[30],"or":[31],"relative":[32],"angles":[33],"output":[35],"function":[36],"briefly":[38],"discussed":[39],"configuration":[41],"space":[42],"checked":[44],"the":[46,51],"occurance":[47],"singularities":[49],"decoupling":[52],"matrix.":[53]},"counts_by_year":[{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}