{"id":"https://openalex.org/W3001793559","doi":"https://doi.org/10.1109/robio49542.2019.8961382","title":"Model Learning for Two-Wheeled Robot Self-Balance Control","display_name":"Model Learning for Two-Wheeled Robot Self-Balance Control","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3001793559","doi":"https://doi.org/10.1109/robio49542.2019.8961382","mag":"3001793559"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961382","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961382","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5103004481","display_name":"Enbo Li","orcid":"https://orcid.org/0000-0001-9450-1540"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Enbo Li","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062157236","display_name":"Haibo Feng","orcid":"https://orcid.org/0000-0001-9979-9454"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haibo Feng","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100732213","display_name":"Haitao Zhou","orcid":"https://orcid.org/0000-0001-9809-6036"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haitao Zhou","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100342404","display_name":"Xu Li","orcid":"https://orcid.org/0000-0001-5027-3419"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xu Li","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086126902","display_name":"Yanwu Zhai","orcid":"https://orcid.org/0000-0003-2253-0996"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanwu Zhai","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084153714","display_name":"Songyuan Zhang","orcid":"https://orcid.org/0000-0001-9837-098X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Songyuan Zhang","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008597054","display_name":"Yili Fu","orcid":"https://orcid.org/0000-0003-2075-2384"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yili Fu","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5103004481"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.28,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.6759532,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1582","last_page":"1587"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9908000230789185,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.988099992275238,"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/robot","display_name":"Robot","score":0.7898340225219727},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7840646505355835},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7042622566223145},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6373379230499268},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.5791023969650269},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.5554797053337097},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5031611323356628},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48737412691116333},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.41863399744033813},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32415056228637695},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30219578742980957}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7898340225219727},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7840646505355835},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7042622566223145},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6373379230499268},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.5791023969650269},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5554797053337097},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5031611323356628},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48737412691116333},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.41863399744033813},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32415056228637695},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30219578742980957}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio49542.2019.8961382","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961382","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.800000011920929,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1505782882","https://openalex.org/W1515851193","https://openalex.org/W1517081929","https://openalex.org/W1949804828","https://openalex.org/W1977655452","https://openalex.org/W2017792809","https://openalex.org/W2103195331","https://openalex.org/W2126880773","https://openalex.org/W2140135625","https://openalex.org/W2155307968","https://openalex.org/W2169471584","https://openalex.org/W2179284380","https://openalex.org/W2529601334","https://openalex.org/W2726187156","https://openalex.org/W2911087563","https://openalex.org/W2952629144","https://openalex.org/W2962736495","https://openalex.org/W2963184939","https://openalex.org/W2963411833","https://openalex.org/W2969329576","https://openalex.org/W4214717370","https://openalex.org/W6630146076","https://openalex.org/W6630711612","https://openalex.org/W6680657880","https://openalex.org/W6728925229","https://openalex.org/W6740222838","https://openalex.org/W6744563498"],"related_works":["https://openalex.org/W2930863966","https://openalex.org/W2126211886","https://openalex.org/W3153786280","https://openalex.org/W3127551068","https://openalex.org/W4220829754","https://openalex.org/W2165180011","https://openalex.org/W3165944253","https://openalex.org/W2762381663","https://openalex.org/W1886477626","https://openalex.org/W2724299411"],"abstract_inverted_index":{"Two-wheeled":[0],"robots":[1],"have":[2,109],"many":[3,35],"advantages":[4],"over":[5],"other":[6,17],"mobile":[7],"robots,":[8],"but":[9,45,106],"they":[10],"are":[11,34,49],"difficult":[12],"to":[13,40,64,79,89,93,125,157],"self-balance":[14,127],"compared":[15],"with":[16],"wheeled":[18],"robots.":[19],"Reinforcement":[20],"learning":[21,39,123,136],"(RL)":[22],"is":[23,183],"a":[24,72,80,120,129,134,152,159],"general":[25],"framework":[26],"for":[27],"sequential":[28],"decision-making":[29],"problems.":[30],"So":[31],"far,":[32],"there":[33],"applications":[36],"of":[37,47,54,58,112,128,143,163],"reinforcement":[38,122],"solve":[41],"robot":[42,84,101,155,165],"control":[43,181],"problems,":[44],"most":[46],"them":[48],"used":[50],"in":[51,71],"simulators":[52],"because":[53],"the":[55,65,68,90,94,110,141,149,164,180,187],"large":[56],"amount":[57],"data":[59,85,102,156],"required.":[60],"In":[61,115],"addition,":[62],"due":[63,88],"reality":[66],"gap,":[67],"policy":[69,182],"learned":[70,188],"simulation":[73],"environment":[74],"cannot":[75],"be":[76],"transferred":[77],"directly":[78],"real":[81,154],"robot.":[82,95,131],"Real":[83],"often":[86],"expensive":[87],"potential":[91],"damage":[92],"Model-based":[96],"methods":[97,108],"require":[98],"far":[99],"fewer":[100],"than":[103],"model-free":[104],"methods,":[105],"these":[107],"problem":[111,142],"model":[113,135,144,162],"bias.":[114,145],"this":[116],"paper,":[117],"we":[118],"use":[119],"model-based":[121],"method":[124,137,147],"achieve":[126],"two-wheeled":[130],"We":[132],"present":[133],"that":[138],"can":[139,175],"reduce":[140],"Our":[146],"combines":[148],"simulator":[150],"and":[151,174],"few":[153],"learn":[158,176],"probabilistic":[160],"dynamics":[161],"through":[166],"an":[167],"iterative":[168],"way,":[169],"which":[170],"requires":[171],"no":[172],"expertise":[173],"from":[177],"scratch.":[178],"Then":[179],"optimized":[184],"based":[185],"on":[186],"model.":[189]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}