{"id":"https://openalex.org/W3003122954","doi":"https://doi.org/10.1109/robio49542.2019.8961858","title":"Control of the Two-wheeled Inverted Pendulum (TWIP) Robot Moving on the Continuous Uneven Ground","display_name":"Control of the Two-wheeled Inverted Pendulum (TWIP) Robot Moving on the Continuous Uneven Ground","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3003122954","doi":"https://doi.org/10.1109/robio49542.2019.8961858","mag":"3003122954"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961858","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961858","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/A5101586543","display_name":"Haitao Zhou","orcid":"https://orcid.org/0000-0002-6809-6366"},"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":"Haitao Zhou","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,Heilongjiang Province,China,150001","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang Province, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,Heilongjiang Province,China,150001","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang Province, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100741485","display_name":"Xu Li","orcid":"https://orcid.org/0000-0001-6119-7757"},"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,Heilongjiang Province,China,150001","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang Province, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,Heilongjiang Province,China,150001","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang Province, 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,Heilongjiang Province,China,150001","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang Province, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,Heilongjiang Province,China,150001","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang Province, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","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":false,"raw_author_name":"Enbo Li","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,Heilongjiang Province,China,150001","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang Province, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,Heilongjiang Province,China,150001","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang Province, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044664485","display_name":"Pengchao Ding","orcid":"https://orcid.org/0000-0001-9934-5778"},"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":"Pengchao Ding","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,Heilongjiang Province,China,150001","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang Province, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,Heilongjiang Province,China,150001","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang Province, 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,Heilongjiang Province,China,150001","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang Province, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,Heilongjiang Province,China,150001","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang Province, 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,Heilongjiang Province,China,150001","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang Province, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,Heilongjiang Province,China,150001","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang Province, 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,Heilongjiang Province,China,150001","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang Province, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,Heilongjiang Province,China,150001","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang Province, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5101586543"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.1956,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.52282496,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1588","last_page":"1594"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9927999973297119,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9909999966621399,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/twip","display_name":"Twip","score":0.7672579288482666},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7155163884162903},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6530080437660217},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6516575813293457},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.6481875777244568},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5397198796272278},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5185892581939697},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4789991080760956},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46391549706459045},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4499363899230957},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4440552294254303},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.41577377915382385},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33774644136428833},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33069849014282227},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2575775980949402},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13488125801086426},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.09930381178855896},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09656906127929688},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0872843861579895}],"concepts":[{"id":"https://openalex.org/C2779863471","wikidata":"https://www.wikidata.org/wiki/Q1936270","display_name":"Twip","level":4,"score":0.7672579288482666},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7155163884162903},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6530080437660217},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6516575813293457},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6481875777244568},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5397198796272278},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5185892581939697},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4789991080760956},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46391549706459045},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4499363899230957},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4440552294254303},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.41577377915382385},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33774644136428833},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33069849014282227},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2575775980949402},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13488125801086426},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.09930381178855896},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09656906127929688},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0872843861579895},{"id":"https://openalex.org/C191897082","wikidata":"https://www.wikidata.org/wiki/Q11467","display_name":"Metallurgy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","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/C6840138","wikidata":"https://www.wikidata.org/wiki/Q109856","display_name":"Crystal twinning","level":3,"score":0.0},{"id":"https://openalex.org/C87976508","wikidata":"https://www.wikidata.org/wiki/Q1498213","display_name":"Microstructure","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio49542.2019.8961858","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961858","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":[{"score":0.6600000262260437,"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1580644960","https://openalex.org/W1971559112","https://openalex.org/W1990042683","https://openalex.org/W1990088153","https://openalex.org/W1992338761","https://openalex.org/W1999636742","https://openalex.org/W2003999924","https://openalex.org/W2017792809","https://openalex.org/W2050028314","https://openalex.org/W2101554531","https://openalex.org/W2120499270","https://openalex.org/W2148328967","https://openalex.org/W2149553777","https://openalex.org/W2164400981","https://openalex.org/W2167852028","https://openalex.org/W2527870058","https://openalex.org/W2910116056","https://openalex.org/W3010920830","https://openalex.org/W6634699040","https://openalex.org/W6774922309"],"related_works":["https://openalex.org/W2377353577","https://openalex.org/W2353349180","https://openalex.org/W2007397996","https://openalex.org/W3045464332","https://openalex.org/W315058875","https://openalex.org/W2902389919","https://openalex.org/W4293248553","https://openalex.org/W2343140132","https://openalex.org/W2162299404","https://openalex.org/W2103062922"],"abstract_inverted_index":{"Uneven":[0],"terrain":[1,120],"is":[2,93,112,140],"common":[3],"in":[4,16,19,30],"natural":[5],"environment.":[6],"The":[7,39,171],"TWIP":[8,28,152,186],"robot":[9,29,133,153,187,222],"has":[10,215],"demonstrated":[11,176],"its":[12,102],"rapid":[13],"movement":[14],"ability":[15],"even":[17],"ground":[18,34,48,123,161,194],"previous":[20],"works.":[21],"This":[22],"paper":[23],"explores":[24],"control":[25],"of":[26,59,73,79,118,132,159],"the":[27,31,36,43,66,76,97,107,116,135,145,151,165,181,203,207,212,220],"continuous":[32,69],"uneven":[33,160,193],"except":[35],"step":[37,71],"case.":[38],"sinusoidal":[40],"function":[41,46],"and":[42,134,198,206,226],"piece-wise":[44],"linear":[45],"type":[47],"surface":[49,162],"are":[50,75],"taken":[51],"as":[52],"an":[53],"example":[54],"to":[55,81,95,101,104,114,129,163,188,202,223],"explore":[56],"motion":[57,130],"characteristics":[58],"robots":[60],"on":[61,144,155,190,219],"complex":[62],"terrain.":[63],"As":[64],"for":[65],"robotic":[67],"system,":[68],"or":[70,168],"changes":[72],"slope":[74,117,147],"main":[77],"types":[78,158],"disturbance":[80],"it.":[82],"To":[83],"cope":[84],"with":[85,180,195],"these":[86,156],"disturbance,":[87],"a":[88],"Sliding":[89],"Mode":[90],"Control":[91],"(SMC)":[92],"used":[94],"design":[96],"nominal":[98],"controller":[99],"due":[100],"insensitivity":[103],"uncertainty.":[105],"Then,":[106],"Extended":[108],"Kalman":[109],"Filter":[110],"(EKF)":[111],"adopted":[113],"estimate":[115],"unknown":[119],"without":[121],"any":[122],"information":[124],"from":[125],"sensors":[126],"but":[127],"according":[128],"state":[131],"Equilibrium":[136],"Point":[137],"Estimation":[138],"(EPE)":[139],"then":[141],"achieved":[142],"based":[143],"obtained":[146],"angle.":[148],"In":[149],"simulation,":[150],"moves":[154],"two":[157],"track":[164],"reference":[166],"position":[167],"velocity":[169],"trajectory.":[170],"comparative":[172],"experimental":[173],"results":[174],"have":[175],"that":[177],"SMC":[178,209],"combined":[179],"EPE":[182],"method":[183],"can":[184],"enable":[185],"locomote":[189],"some":[191],"limited":[192],"higher":[196],"stability":[197],"dynamic":[199],"performance,":[200],"compared":[201],"single":[204,208],"LQR":[205],"method.":[210],"Also,":[211],"proposed":[213],"algorithm":[214],"been":[216],"conduted":[217],"successfully":[218],"WIP-Bot":[221],"travel":[224],"upward":[225],"downward":[227],"slope.":[228]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
