{"id":"https://openalex.org/W2912097985","doi":"https://doi.org/10.1109/rcar.2018.8621827","title":"Analytical Solution to Global Dynamic Balance Control of the Acrobot","display_name":"Analytical Solution to Global Dynamic Balance Control of the Acrobot","publication_year":2018,"publication_date":"2018-08-01","ids":{"openalex":"https://openalex.org/W2912097985","doi":"https://doi.org/10.1109/rcar.2018.8621827","mag":"2912097985"},"language":"en","primary_location":{"id":"doi:10.1109/rcar.2018.8621827","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar.2018.8621827","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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/A5101740342","display_name":"Xiaojiao Chen","orcid":"https://orcid.org/0000-0001-5868-006X"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Xiaojiao Chen","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108116106","display_name":"Tommy Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Tommy Hu","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028976561","display_name":"Chaoyang Song","orcid":"https://orcid.org/0000-0002-0166-8112"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoyang Song","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045214230","display_name":"Zheng Wang","orcid":"https://orcid.org/0000-0002-7726-0770"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zheng Wang","raw_affiliation_strings":["University of Hong Kong Shenzhen, Institute of Research and Innovation (HKU-SIRI), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"University of Hong Kong Shenzhen, Institute of Research and Innovation (HKU-SIRI), Shenzhen, China","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101740342"],"corresponding_institution_ids":["https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":0.2179,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.54069328,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"44","issue":null,"first_page":"405","last_page":"410"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9869999885559082,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9853000044822693,"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/balance","display_name":"Balance (ability)","score":0.6425663232803345},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5655928254127502},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5292790532112122},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48746252059936523},{"id":"https://openalex.org/keywords/dynamic-balance","display_name":"Dynamic balance","score":0.42979419231414795},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33482158184051514},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14252164959907532},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13570398092269897},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.09035676717758179},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.06632420420646667}],"concepts":[{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.6425663232803345},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5655928254127502},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5292790532112122},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48746252059936523},{"id":"https://openalex.org/C166151169","wikidata":"https://www.wikidata.org/wiki/Q16946937","display_name":"Dynamic balance","level":2,"score":0.42979419231414795},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33482158184051514},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14252164959907532},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13570398092269897},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.09035676717758179},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.06632420420646667},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar.2018.8621827","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar.2018.8621827","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W46080491","https://openalex.org/W1494258739","https://openalex.org/W1505317454","https://openalex.org/W1661823234","https://openalex.org/W1869084345","https://openalex.org/W1874049655","https://openalex.org/W2013232999","https://openalex.org/W2019126041","https://openalex.org/W2022908762","https://openalex.org/W2029058516","https://openalex.org/W2037729465","https://openalex.org/W2076787343","https://openalex.org/W2080073055","https://openalex.org/W2086587468","https://openalex.org/W2111069208","https://openalex.org/W2118320757","https://openalex.org/W2128166584","https://openalex.org/W2131398727","https://openalex.org/W2131893676","https://openalex.org/W2132642748","https://openalex.org/W2133361850","https://openalex.org/W2133859362","https://openalex.org/W2138136244","https://openalex.org/W2139612757","https://openalex.org/W2144351850","https://openalex.org/W2151182239","https://openalex.org/W2161305038","https://openalex.org/W2167633283","https://openalex.org/W2539534359","https://openalex.org/W2566467848","https://openalex.org/W2583155479","https://openalex.org/W2592769779","https://openalex.org/W2625731136","https://openalex.org/W2744345703","https://openalex.org/W2766646977","https://openalex.org/W2793132401","https://openalex.org/W3102051120","https://openalex.org/W4285719527","https://openalex.org/W6601872585","https://openalex.org/W6653659043","https://openalex.org/W6680431648"],"related_works":["https://openalex.org/W4386186730","https://openalex.org/W4390479742","https://openalex.org/W2097240936","https://openalex.org/W3197982544","https://openalex.org/W2495261280","https://openalex.org/W2968985559","https://openalex.org/W4318681801","https://openalex.org/W2510926320","https://openalex.org/W1549943573","https://openalex.org/W4251281889"],"abstract_inverted_index":{"To":[0],"provide":[1],"a":[2,33,55],"high":[3],"level":[4],"dynamic":[5,27,52,73],"stability":[6,46,74],"objective":[7],"for":[8,45],"humanoid":[9,81],"robots":[10],"that":[11,42],"takes":[12],"into":[13,70],"consideration":[14],"forces":[15],"due":[16],"to":[17,25,50],"joint":[18],"coupling,":[19],"we":[20],"derive":[21],"an":[22,48],"analytical":[23],"solution":[24],"the":[26,31,43,51,80],"balance":[28],"control":[29],"of":[30,54,61,75],"Acrobot,":[32],"fixed-base":[34],"underactuated":[35],"inverted":[36],"double":[37],"pendulum.":[38],"We":[39],"will":[40],"show":[41],"proof":[44],"involves":[47],"analogy":[49],"stabilization":[53],"rigid":[56],"pendulum":[57],"through":[58],"vertical":[59],"vibrations":[60],"its":[62],"base,":[63],"thus":[64],"providing":[65],"physical":[66],"and":[67,72],"mathematical":[68],"insights":[69],"controls":[71],"underactuated,":[76],"articulated":[77],"systems":[78],"like":[79],"robot.":[82]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}