{"id":"https://openalex.org/W4408235464","doi":"https://doi.org/10.1109/robio64047.2024.10907473","title":"Attitude Control During the Flight Phase of Ramp Jump for Single-Track Two-Wheeled Robots","display_name":"Attitude Control During the Flight Phase of Ramp Jump for Single-Track Two-Wheeled Robots","publication_year":2024,"publication_date":"2024-12-10","ids":{"openalex":"https://openalex.org/W4408235464","doi":"https://doi.org/10.1109/robio64047.2024.10907473"},"language":"en","primary_location":{"id":"doi:10.1109/robio64047.2024.10907473","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907473","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5102930677","display_name":"Boyi Wang","orcid":"https://orcid.org/0000-0003-4416-6777"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Boyi Wang","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063291337","display_name":"Feilong Jing","orcid":"https://orcid.org/0009-0001-2375-9410"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feilong Jing","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101627282","display_name":"Yang Deng","orcid":"https://orcid.org/0000-0002-7318-1899"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Deng","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091791221","display_name":"Zhang Chen","orcid":"https://orcid.org/0000-0002-7521-3751"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhang Chen","raw_affiliation_strings":["Tsinghua University,Beijing National Research Center for Information Science and Technology,Department of Automation,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing National Research Center for Information Science and Technology,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013703026","display_name":"Bin Liang","orcid":"https://orcid.org/0000-0001-9131-5478"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Liang","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5102930677"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.29207298,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1629","last_page":"1634"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9944999814033508,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9944999814033508,"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"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9840999841690063,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.972000002861023,"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/jump","display_name":"Jump","score":0.723576009273529},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6558009386062622},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.6255524754524231},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.6023644804954529},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5340966582298279},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47095853090286255},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4692162275314331},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.45120158791542053},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4045857787132263},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2790250778198242},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27193599939346313},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20624598860740662},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10754847526550293}],"concepts":[{"id":"https://openalex.org/C2780695682","wikidata":"https://www.wikidata.org/wiki/Q4005959","display_name":"Jump","level":2,"score":0.723576009273529},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6558009386062622},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.6255524754524231},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.6023644804954529},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5340966582298279},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47095853090286255},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4692162275314331},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.45120158791542053},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4045857787132263},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2790250778198242},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27193599939346313},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20624598860740662},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10754847526550293},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio64047.2024.10907473","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907473","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.5099999904632568,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G7244870129","display_name":null,"funder_award_id":"62073183,62203252","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W2010302808","https://openalex.org/W2024882308","https://openalex.org/W2040323465","https://openalex.org/W2048248924","https://openalex.org/W2050271375","https://openalex.org/W2100222214","https://openalex.org/W2102348903","https://openalex.org/W2156974162","https://openalex.org/W2157402463","https://openalex.org/W2342891598","https://openalex.org/W2921793253","https://openalex.org/W3094944390","https://openalex.org/W3170422092","https://openalex.org/W3197219002","https://openalex.org/W3197905921","https://openalex.org/W3202842535","https://openalex.org/W4210353754","https://openalex.org/W4296558737","https://openalex.org/W4317383440","https://openalex.org/W4385299427","https://openalex.org/W4387588207","https://openalex.org/W4387951962","https://openalex.org/W4388726337"],"related_works":["https://openalex.org/W2789518417","https://openalex.org/W4213217485","https://openalex.org/W2566545183","https://openalex.org/W2499449816","https://openalex.org/W2059085722","https://openalex.org/W4210856988","https://openalex.org/W238145802","https://openalex.org/W2351666715","https://openalex.org/W2946721565","https://openalex.org/W2801976440"],"abstract_inverted_index":{"For":[0],"the":[1,18,25,31,45,48,58,61,66,84,100,104,109],"ramp":[2],"jump":[3],"of":[4,27,47,60,108],"single-track":[5],"two-wheeled":[6],"(STTW)":[7],"robots,":[8],"an":[9,36,76],"appropriate":[10],"landing":[11],"attitude":[12,28,97],"is":[13,88],"critical":[14],"for":[15,83,96],"safely":[16],"accomplishing":[17],"task.":[19],"In":[20],"this":[21],"paper,":[22],"to":[23,80],"address":[24],"issue":[26],"adjustment":[29],"during":[30,99],"flight":[32,101],"phase,":[33],"we":[34,43,74],"propose":[35],"inverse":[37],"kinematics-based":[38],"receding":[39,93],"horizon":[40,94],"controller.":[41],"First,":[42],"derive":[44],"kinematics":[46],"robot":[49],"based":[50],"on":[51],"angular":[52],"momentum":[53],"conservation":[54],"(AMC)":[55],"and":[56,70,106],"analyze":[57],"region":[59],"adjustable":[62],"takeoff":[63],"attitude,":[64],"considering":[65],"maximum":[67],"steering":[68],"angle":[69],"avoiding":[71],"singularities.":[72],"Secondly,":[73],"design":[75],"AMC-based":[77],"planning":[78],"method":[79,111],"generate":[81],"trajectories":[82],"actuators.":[85],"The":[86],"planner":[87],"then":[89],"integrated":[90],"into":[91],"a":[92],"controller":[95],"control":[98],"phase.":[102],"Finally,":[103],"effectiveness":[105],"robustness":[107],"proposed":[110],"are":[112],"validated":[113],"through":[114],"Webots":[115],"simulations.":[116]},"counts_by_year":[],"updated_date":"2025-12-28T23:10:05.387466","created_date":"2025-10-10T00:00:00"}