{"id":"https://openalex.org/W2137323255","doi":"https://doi.org/10.1109/fuzzy.2008.4630491","title":"A new fuzzy method for the motion control of underactuated robots based on genetic algorithm","display_name":"A new fuzzy method for the motion control of underactuated robots based on genetic algorithm","publication_year":2008,"publication_date":"2008-06-01","ids":{"openalex":"https://openalex.org/W2137323255","doi":"https://doi.org/10.1109/fuzzy.2008.4630491","mag":"2137323255"},"language":"en","primary_location":{"id":"doi:10.1109/fuzzy.2008.4630491","is_oa":false,"landing_page_url":"https://doi.org/10.1109/fuzzy.2008.4630491","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 Fuzzy Systems (IEEE World Congress on Computational Intelligence)","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/A5014646573","display_name":"Qingbo Liu","orcid":"https://orcid.org/0009-0003-2893-5596"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qingbo Liu","raw_affiliation_strings":["College of Mechanical Engineering & Applied Electronics Technology, Beijing University of Technology, Beijing, China","Coll. of Mech. Eng.&Appl. Electron. Technol., Beijing Univ. of Technol., Beijing"],"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering & Applied Electronics Technology, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]},{"raw_affiliation_string":"Coll. of Mech. Eng.&Appl. Electron. Technol., Beijing Univ. of Technol., Beijing","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033302128","display_name":"Yueqing Yu","orcid":"https://orcid.org/0000-0002-2104-0314"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yueqing Yu","raw_affiliation_strings":["College of Mechanical Engineering & Applied Electronics Technology, Beijing University of Technology, Beijing, China","Coll. of Mech. Eng.&Appl. Electron. Technol., Beijing Univ. of Technol., Beijing"],"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering & Applied Electronics Technology, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]},{"raw_affiliation_string":"Coll. of Mech. Eng.&Appl. Electron. Technol., Beijing Univ. of Technol., Beijing","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068869519","display_name":"Qixiao Xia","orcid":"https://orcid.org/0000-0003-0915-0104"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qixiao Xia","raw_affiliation_strings":["College of Mechanical Engineering & Applied Electronics Technology, Beijing University of Technology, Beijing, China","Coll. of Mech. Eng.&Appl. Electron. Technol., Beijing Univ. of Technol., Beijing"],"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering & Applied Electronics Technology, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]},{"raw_affiliation_string":"Coll. of Mech. Eng.&Appl. Electron. Technol., Beijing Univ. of Technol., Beijing","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036770437","display_name":"Liying Su","orcid":null},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liying Su","raw_affiliation_strings":["College of Mechanical Engineering & Applied Electronics Technology, Beijing University of Technology, Beijing, China","Coll. of Mech. Eng.&Appl. Electron. Technol., Beijing Univ. of Technol., Beijing"],"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering & Applied Electronics Technology, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]},{"raw_affiliation_string":"Coll. of Mech. Eng.&Appl. Electron. Technol., Beijing Univ. of Technol., Beijing","institution_ids":["https://openalex.org/I37796252"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5014646573"],"corresponding_institution_ids":["https://openalex.org/I37796252"],"apc_list":null,"apc_paid":null,"fwci":1.645,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.87285966,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"12","issue":null,"first_page":"999","last_page":"1003"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9994000196456909,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9991999864578247,"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":0.9986000061035156,"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/underactuation","display_name":"Underactuation","score":0.8664826154708862},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6822397112846375},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5768832564353943},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5516524910926819},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5319989323616028},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49387413263320923},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.4786216616630554},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.46972787380218506},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4576314091682434},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.4567805528640747},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4181051254272461},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3306503891944885},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3102215528488159},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.29107770323753357},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2387782335281372},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23414835333824158},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17837929725646973}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8664826154708862},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6822397112846375},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5768832564353943},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5516524910926819},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5319989323616028},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49387413263320923},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.4786216616630554},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.46972787380218506},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4576314091682434},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.4567805528640747},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4181051254272461},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3306503891944885},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3102215528488159},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.29107770323753357},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2387782335281372},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23414835333824158},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17837929725646973},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/fuzzy.2008.4630491","is_oa":false,"landing_page_url":"https://doi.org/10.1109/fuzzy.2008.4630491","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 Fuzzy Systems (IEEE World Congress on Computational Intelligence)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8299999833106995}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W177891611","https://openalex.org/W190181899","https://openalex.org/W1619551699","https://openalex.org/W1646557509","https://openalex.org/W1963602557","https://openalex.org/W1964581121","https://openalex.org/W1971044547","https://openalex.org/W2019757530","https://openalex.org/W2035309225","https://openalex.org/W2088082871","https://openalex.org/W2095925063","https://openalex.org/W2116308743","https://openalex.org/W2127055892","https://openalex.org/W2151795214","https://openalex.org/W2163499493","https://openalex.org/W2166690549","https://openalex.org/W2168943524","https://openalex.org/W2539822070","https://openalex.org/W6607221338","https://openalex.org/W6677065873"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W33907905","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2153702122","https://openalex.org/W2033166757"],"abstract_inverted_index":{"A":[0,32],"new":[1,33],"fuzzy":[2,34,47],"method":[3,68],"for":[4,36,95],"the":[5,22,37,59,66,75,81,85,113,119,122],"motion":[6,38],"control":[7,17,39,48],"of":[8,40,62,77,101,103,121],"underactuated":[9,41,116],"robots":[10,42,117],"is":[11,19,43],"proposed":[12,67,123],"in":[13],"this":[14],"paper.":[15],"The":[16,45],"objective":[18],"to":[20,28,84],"move":[21],"end-effector":[23],"from":[24],"a":[25,29,98],"given":[26],"position":[27],"target":[30],"point.":[31],"controller":[35],"present.":[44],"best":[46],"rules":[49],"and":[50,79],"optimal":[51],"membership":[52],"functions":[53],"are":[54,110],"automatically":[55],"generated":[56],"off-line":[57],"by":[58],"global":[60],"optimization":[61],"genetic":[63],"algorithm.":[64],"Because":[65],"does":[69],"not":[70],"make":[71],"any":[72],"hypothesis":[73],"about":[74],"degree":[76,102],"freedom":[78],"unconsidering":[80],"rigorous":[82],"linearizations":[83],"original":[86],"nonlinear":[87],"system,":[88],"it":[89],"can":[90],"be":[91],"used":[92],"without":[93],"modification":[94],"arms":[96],"with":[97],"large":[99],"number":[100],"freedom.":[104],"At":[105],"last,":[106],"numerical":[107],"simulations":[108],"which":[109],"carried":[111],"on":[112],"planar":[114],"2R":[115],"show":[118],"effectiveness":[120],"method.":[124]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}