{"id":"https://openalex.org/W1542215514","doi":"https://doi.org/10.23919/ecc.2013.6669465","title":"Embedding the generalized Acrobot into the n-link with an unactuated cyclic variable and its application to walking design","display_name":"Embedding the generalized Acrobot into the n-link with an unactuated cyclic variable and its application to walking design","publication_year":2013,"publication_date":"2013-07-01","ids":{"openalex":"https://openalex.org/W1542215514","doi":"https://doi.org/10.23919/ecc.2013.6669465","mag":"1542215514"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2013.6669465","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2013.6669465","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Control Conference (ECC)","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/A5044222842","display_name":"Sergej \u010celikovsk\u00fd","orcid":"https://orcid.org/0000-0002-9694-0528"},"institutions":[{"id":"https://openalex.org/I4210119419","display_name":"Czech Academy of Sciences, Institute of Information Theory and Automation","ror":"https://ror.org/03h1hsz49","country_code":"CZ","type":"facility","lineage":["https://openalex.org/I202391551","https://openalex.org/I4210119419"]}],"countries":["CZ"],"is_corresponding":true,"raw_author_name":"Sergej Celikovsky","raw_affiliation_strings":["Institute of Information Theory and Automation, Academy of Sciences of the Czech Republic, CR","Inst. of Inf. Theor. & Autom., Czech Republic"],"affiliations":[{"raw_affiliation_string":"Institute of Information Theory and Automation, Academy of Sciences of the Czech Republic, CR","institution_ids":["https://openalex.org/I4210119419"]},{"raw_affiliation_string":"Inst. of Inf. Theor. & Autom., Czech Republic","institution_ids":["https://openalex.org/I4210119419"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057402792","display_name":"Milan Anderle","orcid":"https://orcid.org/0000-0003-3414-9017"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Milan Anderle","raw_affiliation_strings":["The Department of Control Engineering, Czech Technical University in Prague","Dept. of Control Eng., Czech Tech. Univ. in Prague, Prague, Czech Republic"],"affiliations":[{"raw_affiliation_string":"The Department of Control Engineering, Czech Technical University in Prague","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Dept. of Control Eng., Czech Tech. Univ. in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030112128","display_name":"Claude H. Moog","orcid":"https://orcid.org/0000-0003-3803-8760"},"institutions":[{"id":"https://openalex.org/I234216984","display_name":"Universit\u00e9 Nantes Angers Le Mans","ror":"https://ror.org/0406t3m57","country_code":"FR","type":"education","lineage":["https://openalex.org/I234216984"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Claude H. Moog","raw_affiliation_strings":["L'UNAM, Nantes, France","IRCCyN, L'UNAM, Nantes, France"],"affiliations":[{"raw_affiliation_string":"L'UNAM, Nantes, France","institution_ids":["https://openalex.org/I234216984"]},{"raw_affiliation_string":"IRCCyN, L'UNAM, Nantes, France","institution_ids":["https://openalex.org/I234216984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5044222842"],"corresponding_institution_ids":["https://openalex.org/I4210119419"],"apc_list":null,"apc_paid":null,"fwci":0.4104,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.63205232,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"682","last_page":"689"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9840999841690063,"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/underactuation","display_name":"Underactuation","score":0.8213099241256714},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.8183667659759521},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6148803234100342},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.5788527727127075},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5567806363105774},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5333364605903625},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5267300605773926},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.4855670630931854},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4394229054450989},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41344591975212097},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2872926890850067},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22318139672279358},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20449796319007874},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15825334191322327},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12882515788078308}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8213099241256714},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.8183667659759521},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6148803234100342},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.5788527727127075},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5567806363105774},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5333364605903625},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5267300605773926},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.4855670630931854},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4394229054450989},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41344591975212097},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2872926890850067},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22318139672279358},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20449796319007874},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15825334191322327},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12882515788078308},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.23919/ecc.2013.6669465","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2013.6669465","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-00858705v1","is_oa":false,"landing_page_url":"https://hal.science/hal-00858705","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"European Control Conference, Jul 2013, Zurich, Switzerland. pp.682 - 689","raw_type":"Conference papers"},{"id":"pmh:oai:asep.lib.cas.cz:CavUnEpca/0394321","is_oa":false,"landing_page_url":"http://hdl.handle.net/11104/0223782","pdf_url":null,"source":{"id":"https://openalex.org/S7407055266","display_name":"ASEP","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1491077795","https://openalex.org/W1504362584","https://openalex.org/W1557324374","https://openalex.org/W1583319952","https://openalex.org/W1887006513","https://openalex.org/W2017766409","https://openalex.org/W2056617654","https://openalex.org/W2071475957","https://openalex.org/W2086100067","https://openalex.org/W2106914563","https://openalex.org/W2113636297","https://openalex.org/W2116515744","https://openalex.org/W2122850819","https://openalex.org/W2135563145","https://openalex.org/W2141092097","https://openalex.org/W2146943783","https://openalex.org/W2149224990","https://openalex.org/W2163118027","https://openalex.org/W2164760807","https://openalex.org/W2347340684","https://openalex.org/W2381269752","https://openalex.org/W2539083524","https://openalex.org/W3160954918","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2360051520","https://openalex.org/W2802540229","https://openalex.org/W587013945","https://openalex.org/W2798244654","https://openalex.org/W3168108534","https://openalex.org/W34871393","https://openalex.org/W2106586754","https://openalex.org/W1969553787","https://openalex.org/W2036009937","https://openalex.org/W2347322976"],"abstract_inverted_index":{"The":[0],"Acrobot":[1,55,89],"is":[2,76,91,117,128,138],"the":[3,26,35,43,54,70,105,110,119,124,131,135,144],"well-known":[4],"and":[5,14,34,101],"widely":[6],"studied":[7],"underactuated":[8,44,60],"mechanical":[9],"system":[10],"having":[11,62],"two":[12],"links":[13],"one":[15],"actuated":[16],"joint":[17],"between":[18],"them.":[19],"It":[20],"may":[21],"be":[22],"also":[23,39],"viewed":[24],"as":[25,42],"simplest":[27],"possible":[28],"walking":[29,107],"like":[30],"mechanism":[31],"without":[32],"knees":[33],"ankle-joint":[36],"actuation,":[37],"alternatively":[38],"referred":[40],"to":[41,52,56],"Compass":[45],"gait":[46],"walker.":[47],"To":[48],"extend":[49],"techniques":[50],"used":[51],"control":[53],"a":[57,87],"more":[58],"general":[59],"n-link":[61,111],"an":[63],"unactuated":[64],"cyclic":[65],"variable,":[66],"this":[67,95,99],"paper":[68],"defines":[69],"so-called":[71],"generalized":[72,88],"Acrobot.":[73],"Further,":[74],"it":[75],"shown":[77],"that":[78,90,118],"for":[79,104,109],"every":[80],"set":[81],"of":[82,134,143],"virtual":[83],"constraints":[84],"there":[85],"exists":[86],"linearly":[92],"embedded":[93],"into":[94],"n-link.":[96],"Based":[97],"on":[98],"property":[100],"results":[102],"valid":[103],"Acrobot,":[106],"strategies":[108],"are":[112,147],"provided.":[113,148],"Important":[114],"achievement":[115],"here":[116],"exponentially":[120],"stable":[121],"tracking":[122],"during":[123],"swing":[125],"phase":[126],"only":[127],"possible,":[129],"i.e.":[130],"stabilizing":[132],"effect":[133],"impact":[136],"map":[137],"not":[139],"needed.":[140],"Computer":[141],"simulations":[142],"4-link":[145],"case":[146]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}