{"id":"https://openalex.org/W3212944001","doi":"https://doi.org/10.1142/s0219843621500158","title":"A Nonlinear Optimal Control Approach for Multi-DOF Brachiation Robots","display_name":"A Nonlinear Optimal Control Approach for Multi-DOF Brachiation Robots","publication_year":2021,"publication_date":"2021-10-01","ids":{"openalex":"https://openalex.org/W3212944001","doi":"https://doi.org/10.1142/s0219843621500158","mag":"3212944001"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843621500158","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843621500158","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://rua.ua.es/dspace/bitstream/10045/121260/5/Rigatos_etal_2021_IntJHumanoidRobotics_accepted.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068059152","display_name":"Gerasimos Rigatos","orcid":"https://orcid.org/0000-0002-2972-7030"},"institutions":[{"id":"https://openalex.org/I4210135709","display_name":"Industrial Systems Institute","ror":"https://ror.org/02sy6k521","country_code":"GR","type":"nonprofit","lineage":["https://openalex.org/I4210135709"]}],"countries":["GR"],"is_corresponding":true,"raw_author_name":"G. Rigatos","raw_affiliation_strings":["Unit of Industrial Automation, Industrial Systems Institute, Rion Patras 26504, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Unit of Industrial Automation, Industrial Systems Institute, Rion Patras 26504, Greece","institution_ids":["https://openalex.org/I4210135709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018683464","display_name":"Masoud Abbaszadeh","orcid":"https://orcid.org/0000-0002-9440-1563"},"institutions":[{"id":"https://openalex.org/I1332737386","display_name":"General Electric (United States)","ror":"https://ror.org/013msgt25","country_code":"US","type":"company","lineage":["https://openalex.org/I1332737386"]},{"id":"https://openalex.org/I4210134512","display_name":"GE Global Research (United States)","ror":"https://ror.org/03e06qt98","country_code":"US","type":"company","lineage":["https://openalex.org/I4210134512"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Abbaszadeh","raw_affiliation_strings":["GE Global Research, General Electric, Niskayuna 12309, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GE Global Research, General Electric, Niskayuna 12309, NY, USA","institution_ids":["https://openalex.org/I1332737386","https://openalex.org/I4210134512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012697287","display_name":"Krishna Busawon","orcid":"https://orcid.org/0000-0002-9058-0824"},"institutions":[{"id":"https://openalex.org/I32394136","display_name":"Northumbria University","ror":"https://ror.org/049e6bc10","country_code":"GB","type":"education","lineage":["https://openalex.org/I32394136"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"K. Busawon","raw_affiliation_strings":["Department of Mechanical Engineering, University of Northumbria, Newcastle NE1 8ST, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Northumbria, Newcastle NE1 8ST, UK","institution_ids":["https://openalex.org/I32394136"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002055009","display_name":"Zhiwei Gao","orcid":"https://orcid.org/0000-0001-5464-3288"},"institutions":[{"id":"https://openalex.org/I32394136","display_name":"Northumbria University","ror":"https://ror.org/049e6bc10","country_code":"GB","type":"education","lineage":["https://openalex.org/I32394136"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Z. Gao","raw_affiliation_strings":["Department of Electrical Engineering, University of Northumbria, Newcastle NE1 8ST, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Northumbria, Newcastle NE1 8ST, UK","institution_ids":["https://openalex.org/I32394136"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031581225","display_name":"Jorge Pomares","orcid":"https://orcid.org/0000-0002-7523-9118"},"institutions":[{"id":"https://openalex.org/I130194489","display_name":"University of Alicante","ror":"https://ror.org/05t8bcz72","country_code":"ES","type":"education","lineage":["https://openalex.org/I130194489"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J. Pomares","raw_affiliation_strings":["Department of Physics, Systems Engineering and Signal Theory, University of Alicante, Alicante 03690, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Physics, Systems Engineering and Signal Theory, University of Alicante, Alicante 03690, Spain","institution_ids":["https://openalex.org/I130194489"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5068059152"],"corresponding_institution_ids":["https://openalex.org/I4210135709"],"apc_list":null,"apc_paid":null,"fwci":0.1697,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.46537268,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"18","issue":"05","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9801999926567078,"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":0.9801999926567078,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9757000207901001,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9616000056266785,"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":0.8168643712997437},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.600788950920105},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5658383965492249},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5617325901985168},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.52777099609375},{"id":"https://openalex.org/keywords/multivariable-calculus","display_name":"Multivariable calculus","score":0.5265312790870667},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.523023784160614},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5119491815567017},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.4900020658969879},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.47812214493751526},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.46125566959381104},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4600922465324402},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.4513669013977051},{"id":"https://openalex.org/keywords/nonlinear-control","display_name":"Nonlinear control","score":0.4263407289981842},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3496648073196411},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3092276155948639},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27643007040023804},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.158890962600708},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12346673011779785},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1046701967716217},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.10260796546936035}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8168643712997437},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.600788950920105},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5658383965492249},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5617325901985168},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.52777099609375},{"id":"https://openalex.org/C117312493","wikidata":"https://www.wikidata.org/wiki/Q2035437","display_name":"Multivariable calculus","level":2,"score":0.5265312790870667},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.523023784160614},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5119491815567017},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.4900020658969879},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.47812214493751526},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.46125566959381104},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4600922465324402},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.4513669013977051},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.4263407289981842},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3496648073196411},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3092276155948639},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27643007040023804},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.158890962600708},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12346673011779785},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1046701967716217},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.10260796546936035},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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":2,"locations":[{"id":"doi:10.1142/s0219843621500158","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843621500158","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"},{"id":"pmh:oai:rua.ua.es:10045/121260","is_oa":true,"landing_page_url":"http://hdl.handle.net/10045/121260","pdf_url":"http://rua.ua.es/dspace/bitstream/10045/121260/5/Rigatos_etal_2021_IntJHumanoidRobotics_accepted.pdf","source":{"id":"https://openalex.org/S4306400416","display_name":"Repositorio Institucional de la Universidad de Alicante (Universidad de Alicante)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130194489","host_organization_name":"University of Alicante","host_organization_lineage":["https://openalex.org/I130194489"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:rua.ua.es:10045/121260","is_oa":true,"landing_page_url":"http://hdl.handle.net/10045/121260","pdf_url":"http://rua.ua.es/dspace/bitstream/10045/121260/5/Rigatos_etal_2021_IntJHumanoidRobotics_accepted.pdf","source":{"id":"https://openalex.org/S4306400416","display_name":"Repositorio Institucional de la Universidad de Alicante (Universidad de Alicante)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130194489","host_organization_name":"University of Alicante","host_organization_lineage":["https://openalex.org/I130194489"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.6399999856948853,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W3212944001.pdf"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W1511797445","https://openalex.org/W1596558867","https://openalex.org/W1969684333","https://openalex.org/W1992559929","https://openalex.org/W2003163723","https://openalex.org/W2006065844","https://openalex.org/W2025517931","https://openalex.org/W2028478368","https://openalex.org/W2031627445","https://openalex.org/W2066270452","https://openalex.org/W2083935370","https://openalex.org/W2103977982","https://openalex.org/W2117145719","https://openalex.org/W2163149095","https://openalex.org/W2167322920","https://openalex.org/W2290664027","https://openalex.org/W2315925353","https://openalex.org/W2325067522","https://openalex.org/W2494257136","https://openalex.org/W2500085023","https://openalex.org/W2502582985","https://openalex.org/W2618959078","https://openalex.org/W2769400608","https://openalex.org/W2772379403","https://openalex.org/W2898509350","https://openalex.org/W2939366215","https://openalex.org/W2966452882","https://openalex.org/W2971626339","https://openalex.org/W2972748504","https://openalex.org/W2972977916","https://openalex.org/W2992514555","https://openalex.org/W2995786473","https://openalex.org/W3015076120","https://openalex.org/W3098650625","https://openalex.org/W4241578175","https://openalex.org/W4245059895"],"related_works":["https://openalex.org/W4229795303","https://openalex.org/W59754174","https://openalex.org/W164037915","https://openalex.org/W1969341801","https://openalex.org/W3175511261","https://openalex.org/W2372055629","https://openalex.org/W2804430586","https://openalex.org/W1900604115","https://openalex.org/W2022012365","https://openalex.org/W1489876411"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,75],"nonlinear":[4,33,129,179],"optimal":[5,124,180],"control":[6,49,87,116,125,162,170,181,201],"approach":[7,182],"for":[8,119,127,188],"mulitple":[9],"degrees":[10],"of":[11,25,31,37,46,51,59,70,85,108,122,133,146,160,168,192,199],"freedom":[12],"(DOF)":[13],"brachiation":[14,61,110,135,194],"robots,":[15,136,195],"which":[16,79],"are":[17,172],"often":[18],"used":[19],"in":[20],"inspection":[21],"and":[22,34,130,140,185],"maintenance":[23],"tasks":[24],"the":[26,32,38,48,60,68,86,90,105,109,120,123,128,134,144,147,161,169,193,200],"electric":[27],"power":[28],"grid.":[29],"Because":[30],"multivariable":[35,131],"structure":[36],"related":[39],"state-space":[40,112],"model,":[41,93],"as":[42,44],"well":[43],"because":[45],"underactuation,":[47],"problem":[50,126],"these":[52],"robots":[53,62],"is":[54,80,98,155],"nontrivial.":[55],"The":[56,100,114,164,177],"dynamic":[57],"model":[58,138],"undergoes":[63],"first":[64],"approximate":[65],"linearization":[66,101],"with":[67],"use":[69],"Taylor":[71],"series":[72],"expansion":[73],"around":[74],"temporary":[76],"operating":[77],"point":[78],"recomputed":[81],"at":[82,157],"each":[83,158],"iteration":[84],"method.":[88,163],"For":[89,143],"approximately":[91],"linearized":[92],"an":[94,151],"H-infinity":[95],"feedback":[96,149],"controller":[97],"designed.":[99],"procedure":[102],"relies":[103],"on":[104],"Jacobian":[106],"matrices":[107],"robots\u2019":[111],"model.":[113],"proposed":[115],"method":[117],"stands":[118],"solution":[121],"dynamics":[132],"under":[137,196],"uncertainties":[139],"external":[141],"perturbations.":[142],"computation":[145],"controller\u2019s":[148],"gains":[150],"algebraic":[152],"Riccati":[153],"equation":[154],"solved":[156],"time-step":[159],"global":[165],"stability":[166],"properties":[167],"scheme":[171],"proven":[173],"through":[174],"Lyapunov":[175],"analysis.":[176],"new":[178],"achieves":[183],"fast":[184],"accurate":[186],"tracking":[187],"all":[189],"state":[190],"variables":[191],"moderate":[197],"variations":[198],"inputs.":[202]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}