{"id":"https://openalex.org/W2147466673","doi":"https://doi.org/10.1109/robot.2008.4543592","title":"Human-friendly motion control of a wheeled inverted pendulum by reduced-order disturbance observer","display_name":"Human-friendly motion control of a wheeled inverted pendulum by reduced-order disturbance observer","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2147466673","doi":"https://doi.org/10.1109/robot.2008.4543592","mag":"2147466673"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543592","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543592","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","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/A5113956849","display_name":"Dongil Choi","orcid":"https://orcid.org/0000-0002-0566-2922"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Dongil Choi","raw_affiliation_strings":["Humanoid Robot Research Center, KAIST, Daejeon, South Korea","Humanoid Robot Res. Center, KAIST, Daejeon"],"affiliations":[{"raw_affiliation_string":"Humanoid Robot Research Center, KAIST, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Humanoid Robot Res. Center, KAIST, Daejeon","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111816361","display_name":"Jun-Ho Oh","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jun-Ho Oh","raw_affiliation_strings":["Humanoid Robot Research Center, KAIST, Daejeon, South Korea","Humanoid Robot Res. Center, KAIST, Daejeon"],"affiliations":[{"raw_affiliation_string":"Humanoid Robot Research Center, KAIST, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Humanoid Robot Res. Center, KAIST, Daejeon","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5113956849"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":2.9066,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.90560892,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2521","last_page":"2526"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.992900013923645,"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":0.992900013923645,"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/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9678000211715698,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9557999968528748,"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/inverted-pendulum","display_name":"Inverted pendulum","score":0.9523012638092041},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8287588357925415},{"id":"https://openalex.org/keywords/double-inverted-pendulum","display_name":"Double inverted pendulum","score":0.6512656211853027},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.6146865487098694},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5392574071884155},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5232181549072266},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.48281821608543396},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4721626937389374},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.4417245090007782},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.41894808411598206},{"id":"https://openalex.org/keywords/double-pendulum","display_name":"Double pendulum","score":0.41502758860588074},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3412456512451172},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33408835530281067},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23323923349380493},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17210036516189575},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16850227117538452},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14301040768623352},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.09039545059204102}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.9523012638092041},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8287588357925415},{"id":"https://openalex.org/C102540577","wikidata":"https://www.wikidata.org/wiki/Q5300047","display_name":"Double inverted pendulum","level":4,"score":0.6512656211853027},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.6146865487098694},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5392574071884155},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5232181549072266},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.48281821608543396},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4721626937389374},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.4417245090007782},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.41894808411598206},{"id":"https://openalex.org/C167183279","wikidata":"https://www.wikidata.org/wiki/Q1243208","display_name":"Double pendulum","level":4,"score":0.41502758860588074},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3412456512451172},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33408835530281067},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23323923349380493},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17210036516189575},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16850227117538452},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14301040768623352},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.09039545059204102},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2008.4543592","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543592","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W65153156","https://openalex.org/W127611773","https://openalex.org/W1527317423","https://openalex.org/W1544439962","https://openalex.org/W1563767976","https://openalex.org/W2024559703","https://openalex.org/W2035585209","https://openalex.org/W2037365904","https://openalex.org/W2076420009","https://openalex.org/W2120499270","https://openalex.org/W2144606107","https://openalex.org/W2163231170","https://openalex.org/W2171261475","https://openalex.org/W2173296431","https://openalex.org/W2553189081","https://openalex.org/W4285719527","https://openalex.org/W6605142829"],"related_works":["https://openalex.org/W2612646280","https://openalex.org/W2041698009","https://openalex.org/W2366496871","https://openalex.org/W2008084614","https://openalex.org/W3216306759","https://openalex.org/W2669735925","https://openalex.org/W2204278379","https://openalex.org/W2734833709","https://openalex.org/W2333418779","https://openalex.org/W1979149861"],"abstract_inverted_index":{"This":[0,36,111,157],"paper":[1],"introduces":[2],"a":[3,8,13,18,23,26,31,41,45,80,94,109,125,129,137,150,168],"novel":[4],"approach":[5],"to":[6,55,76,100,148],"control":[7,91,112,158],"wheeled":[9,27,46,51,73,95,162],"inverted":[10,28,47,52,74,96,163],"pendulum":[11,29,53,75,97,164],"when":[12,167],"disturbance":[14,43,131,134,144,170],"is":[15,40,62,114,171],"applied":[16],"by":[17],"human.":[19,110],"The":[20,133],"interaction":[21],"between":[22],"human":[24,138],"and":[25,128,141],"involves":[30],"pulling":[32],"or":[33],"pushing":[34],"force.":[35],"type":[37],"of":[38,82,93,108],"action":[39],"severe":[42,169],"for":[44,71,153],"pendulum,":[48],"as":[49,79],"the":[50,72,90,105,142,154,161],"tends":[54],"maintain":[56],"its":[57],"initial":[58],"position":[59,151],"if":[60],"there":[61,67],"no":[63],"desired":[64],"input.":[65],"Thus,":[66],"are":[68],"many":[69],"possibilities":[70],"be":[77],"unstable":[78],"result":[81],"interactions":[83],"with":[84,104],"humans.":[85],"To":[86],"solve":[87],"this":[88],"problem,":[89],"algorithm":[92,113,159],"was":[98,139,146],"designed":[99],"move":[101],"in":[102],"coordination":[103],"external":[106],"force":[107],"termed":[115],"human-friendly":[116,155],"motion":[117],"control.":[118],"It":[119],"contains":[120],"an":[121],"optimal":[122],"controller":[123],"using":[124],"full-state":[126],"feedback":[127],"reduce-order":[130],"observer.":[132],"torque":[135,145],"from":[136],"estimated,":[140],"estimated":[143],"used":[147],"generate":[149],"reference":[152],"motion.":[156],"keeps":[160],"stable":[165],"even":[166],"applied.":[172]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":7}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}