{"id":"https://openalex.org/W3184518755","doi":"https://doi.org/10.23919/acc50511.2021.9482939","title":"Development of a Portable Hybrid Pendubot-Acrobot Robotic Platform for On and Off-Campus Teaching and Learning","display_name":"Development of a Portable Hybrid Pendubot-Acrobot Robotic Platform for On and Off-Campus Teaching and Learning","publication_year":2021,"publication_date":"2021-05-25","ids":{"openalex":"https://openalex.org/W3184518755","doi":"https://doi.org/10.23919/acc50511.2021.9482939","mag":"3184518755"},"language":"en","primary_location":{"id":"doi:10.23919/acc50511.2021.9482939","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9482939","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5101887191","display_name":"Raymond Wai Man Ng","orcid":"https://orcid.org/0009-0009-6147-9725"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Raymond Ng","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032798714","display_name":"Yunxi Tang","orcid":"https://orcid.org/0000-0002-8593-8836"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yunxi Tang","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102763424","display_name":"Hongbin Lin","orcid":"https://orcid.org/0000-0003-4280-7622"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Hongbin Lin","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054031435","display_name":"Xiangyu Chu","orcid":"https://orcid.org/0000-0002-7677-2600"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xiangyu Chu","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038766171","display_name":"Kwok Wai Samuel Au","orcid":"https://orcid.org/0000-0002-0114-7499"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"K. W. Samuel Au","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"98","last_page":"105"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9939000010490417,"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":0.9939000010490417,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.993399977684021,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9894000291824341,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/software-portability","display_name":"Software portability","score":0.8397595286369324},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6528664827346802},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6258870363235474},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.5531700849533081},{"id":"https://openalex.org/keywords/usability","display_name":"Usability","score":0.5394535660743713},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4926007390022278},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48552489280700684},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48288655281066895},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.4768216013908386},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.40803787112236023},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3960813879966736},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26552248001098633},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.13796505331993103}],"concepts":[{"id":"https://openalex.org/C63000827","wikidata":"https://www.wikidata.org/wiki/Q3080428","display_name":"Software portability","level":2,"score":0.8397595286369324},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6528664827346802},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6258870363235474},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.5531700849533081},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.5394535660743713},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4926007390022278},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48552489280700684},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48288655281066895},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.4768216013908386},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40803787112236023},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3960813879966736},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26552248001098633},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.13796505331993103}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc50511.2021.9482939","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9482939","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.44999998807907104,"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W120243950","https://openalex.org/W205607010","https://openalex.org/W1525296519","https://openalex.org/W1941843239","https://openalex.org/W2013232999","https://openalex.org/W2027585176","https://openalex.org/W2060127978","https://openalex.org/W2071475957","https://openalex.org/W2077895043","https://openalex.org/W2081727243","https://openalex.org/W2100498764","https://openalex.org/W2111683789","https://openalex.org/W2113265921","https://openalex.org/W2136073474","https://openalex.org/W2140135625","https://openalex.org/W2140907765","https://openalex.org/W2146344542","https://openalex.org/W2148247550","https://openalex.org/W2148477837","https://openalex.org/W2288633656","https://openalex.org/W2541873819","https://openalex.org/W2567492477","https://openalex.org/W2605102758","https://openalex.org/W2674600414","https://openalex.org/W2958682097","https://openalex.org/W2964214518","https://openalex.org/W3046043886","https://openalex.org/W3094066991","https://openalex.org/W3205097138","https://openalex.org/W6680657880"],"related_works":["https://openalex.org/W107105315","https://openalex.org/W1584537303","https://openalex.org/W4388155270","https://openalex.org/W1872724644","https://openalex.org/W4367156293","https://openalex.org/W2750549761","https://openalex.org/W28826848","https://openalex.org/W2122272819","https://openalex.org/W2130894091","https://openalex.org/W2994151208"],"abstract_inverted_index":{"The":[0],"study":[1,166],"of":[2,111,147,160,167],"underactuated":[3,18,66,168],"robotics,":[4],"especially":[5],"with":[6,24,56],"hardware":[7,78],"implementation,":[8],"has":[9],"received":[10],"more":[11,13,51],"and":[12,27,44,53,73,90,131,137,158],"attention":[14],"recently.":[15],"Many":[16],"existing":[17,77],"robotic":[19,67],"systems":[20,68],"were":[21],"often":[22],"built":[23],"complicated":[25],"structures":[26],"algorithms":[28],"that":[29,105],"prohibit":[30],"learners":[31],"from":[32,124],"acquiring":[33],"knowledge":[34],"easily.":[35],"Given":[36],"the":[37,41,49,71,74,82,145,156,161,165],"increasing":[38],"demand":[39],"on":[40],"online":[42],"teaching":[43],"off-campus":[45],"learning":[46],"due":[47,85],"to":[48,86,154],"pandemic,":[50],"portable":[52,99],"multifunctional":[54],"platforms":[55],"open-source":[57],"software":[58],"are":[59,152],"desirable.":[60],"However,":[61],"even":[62],"for":[63],"those":[64],"simple":[65],"such":[69],"as":[70],"Pendubot":[72],"Acrobot,":[75],"their":[76,87],"may":[79],"not":[80],"satisfy":[81],"new":[83],"requirement":[84],"bulkiness,":[88],"portability,":[89],"monofunctional":[91],"setting.":[92],"In":[93],"this":[94,122],"paper,":[95],"we":[96],"propose":[97],"a":[98],"Hybrid":[100],"Pendubot-Acrobot":[101],"Robotic":[102],"(HPAR)":[103],"platform":[104,123,163],"can":[106],"offer":[107],"three":[108],"different":[109],"types":[110],"pendulum":[112],"modes":[113],"in":[114,144,164],"one":[115],"single":[116],"compact":[117],"design.":[118],"We":[119],"will":[120,141],"introduce":[121],"its":[125],"design":[126],"goals,":[127],"mechanical":[128],"design,":[129],"electronics,":[130],"control":[132],"development.":[133],"An":[134],"accompanied":[135],"simulator":[136],"related":[138],"CAD":[139],"files":[140],"be":[142],"provided":[143],"sense":[146],"open":[148],"source.":[149],"Finally,":[150],"experiments":[151],"shown":[153],"demonstrate":[155],"versatility":[157],"usability":[159],"proposed":[162],"robotics.":[169]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}