{"id":"https://openalex.org/W2888311905","doi":"https://doi.org/10.1109/urai.2018.8441882","title":"Controlling Posture of Jumping Articulated Robot for Stable Landing","display_name":"Controlling Posture of Jumping Articulated Robot for Stable Landing","publication_year":2018,"publication_date":"2018-06-01","ids":{"openalex":"https://openalex.org/W2888311905","doi":"https://doi.org/10.1109/urai.2018.8441882","mag":"2888311905"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2018.8441882","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2018.8441882","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Conference on Ubiquitous Robots (UR)","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/A5030729536","display_name":"Hotae Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Hotae Lee","raw_affiliation_strings":["The Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5030729536"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.09084182,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"516","last_page":"522"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.9990000128746033,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9979000091552734,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7090002298355103},{"id":"https://openalex.org/keywords/jumping","display_name":"Jumping","score":0.7027305364608765},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6303085088729858},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6034061312675476},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5878629088401794},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5219913721084595},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.5099819898605347},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4882185757160187},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.4618462920188904},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.45251962542533875},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4521605372428894},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3633486032485962},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2656131088733673},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25561434030532837},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2473239004611969},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16062048077583313},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13573884963989258}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7090002298355103},{"id":"https://openalex.org/C2779897013","wikidata":"https://www.wikidata.org/wiki/Q1151752","display_name":"Jumping","level":2,"score":0.7027305364608765},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6303085088729858},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6034061312675476},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5878629088401794},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5219913721084595},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.5099819898605347},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4882185757160187},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.4618462920188904},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.45251962542533875},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4521605372428894},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3633486032485962},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2656131088733673},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25561434030532837},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2473239004611969},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16062048077583313},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13573884963989258},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2018.8441882","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2018.8441882","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Conference on Ubiquitous Robots (UR)","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/W634232800","https://openalex.org/W1509235676","https://openalex.org/W1559327333","https://openalex.org/W1964573745","https://openalex.org/W1982736382","https://openalex.org/W2026044248","https://openalex.org/W2085746528","https://openalex.org/W2092535029","https://openalex.org/W2113297166","https://openalex.org/W2123834938","https://openalex.org/W2139252876","https://openalex.org/W2171575945","https://openalex.org/W2278830304","https://openalex.org/W2543672805","https://openalex.org/W2562252157","https://openalex.org/W2772054799","https://openalex.org/W3099935670"],"related_works":["https://openalex.org/W2291700020","https://openalex.org/W2086863125","https://openalex.org/W3096187747","https://openalex.org/W3004220142","https://openalex.org/W2216521820","https://openalex.org/W1522691079","https://openalex.org/W4362682344","https://openalex.org/W4285332827","https://openalex.org/W2141773360","https://openalex.org/W2117164876"],"abstract_inverted_index":{"We":[0,15,42],"propose":[1,65],"a":[2,7,12,19,25,29,44,48,53,57,87,94,111,123,154],"new":[3,66,136],"control":[4,68,108,137],"framework":[5,138],"of":[6,18,24,40,73,82,100,143],"jumping":[8,74],"articulated":[9],"robot":[10,88,112,125],"for":[11,71],"stable":[13],"landing.":[14,101],"derive":[16],"dynamics":[17],"hybrid":[20],"system":[21,51],"which":[22],"consists":[23],"flight":[26,45],"phase":[27,31,46,55],"and":[28,52,146],"stance":[30,54],"by":[32],"connecting":[33],"them":[34],"through":[35],"an":[36,106,114],"inelastic":[37],"impact":[38],"model":[39],"Formalsky.":[41],"assume":[43],"is":[47,56],"nonholonomic":[49],"Chaplygin":[50],"fully-actuated":[58],"system.":[59],"Based":[60],"on":[61,118],"this":[62,131],"dynamics,":[63],"we":[64,104],"time-varying":[67],"with":[69],"considerations":[70],"features":[72],"such":[75],"as":[76],"joint":[77],"angle":[78,92],"limit,":[79],"short":[80],"duration":[81],"flight.":[83],"It":[84],"can":[85],"make":[86],"get":[89],"the":[90,98,141],"desired":[91],"within":[93],"specific":[95],"range":[96],"at":[97],"moment":[99],"In":[102],"addition,":[103],"find":[105],"optimal":[107],"to":[109,113,129],"return":[110],"upright":[115],"pose":[116],"based":[117],"gain":[119],"tuning.":[120],"Simulations":[121],"using":[122],"4-link":[124],"are":[126],"also":[127],"performed":[128],"show":[130],"visually.":[132],"The":[133],"motion":[134],"from":[135],"performs":[139],"in":[140],"limit":[142],"joints":[144],"other":[145],"requires":[147],"less":[148],"torque":[149],"than":[150],"conventional":[151],"controls":[152],"without":[153],"given":[155],"trajectory.":[156]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
