{"id":"https://openalex.org/W6931597126","doi":"https://doi.org/10.5281/zenodo.6498036","title":"Torque-limited simple pendulum: A toolkit for getting familiar with control algorithms in underactuated robotics","display_name":"Torque-limited simple pendulum: A toolkit for getting familiar with control algorithms in underactuated robotics","publication_year":2022,"publication_date":"2022-04-27","ids":{"openalex":"https://openalex.org/W6931597126","doi":"https://doi.org/10.5281/zenodo.6498036"},"language":"en","primary_location":{"id":"pmh:oai:zenodo.org:6498036","is_oa":true,"landing_page_url":"https://zenodo.org/record/6498036","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/other"},"type":"other","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/record/6498036","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Wiebe, Felix","orcid":"https://orcid.org/0000-0002-2195-9697"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Wiebe, Felix","raw_affiliation_strings":["Robotics Innovation Center, DFKI"],"raw_orcid":"https://orcid.org/0000-0002-2195-9697","affiliations":[{"raw_affiliation_string":"Robotics Innovation Center, DFKI","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Babel, Jonathan","orcid":"https://orcid.org/0000-0002-8883-0097"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Babel, Jonathan","raw_affiliation_strings":["Robotics Innovation Center, DFKI"],"raw_orcid":"https://orcid.org/0000-0002-8883-0097","affiliations":[{"raw_affiliation_string":"Robotics Innovation Center, DFKI","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Kumar, Shivesh","orcid":"https://orcid.org/0000-0002-6254-3882"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kumar, Shivesh","raw_affiliation_strings":["Robotics Innovation Center, DFKI"],"raw_orcid":"https://orcid.org/0000-0002-6254-3882","affiliations":[{"raw_affiliation_string":"Robotics Innovation Center, DFKI","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Vyas, Shubham","orcid":"https://orcid.org/0000-0001-8773-8435"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vyas, Shubham","raw_affiliation_strings":["Robotics Innovation Center, DFKI"],"raw_orcid":"https://orcid.org/0000-0001-8773-8435","affiliations":[{"raw_affiliation_string":"Robotics Innovation Center, DFKI","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Harnack, Daniel","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Harnack, Daniel","raw_affiliation_strings":["Robotics Innovation Center, DFKI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Innovation Center, DFKI","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Boukheddimi, Melya","orcid":"https://orcid.org/0000-0001-5813-1570"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Boukheddimi, Melya","raw_affiliation_strings":["Robotics Innovation Center, DFKI"],"raw_orcid":"https://orcid.org/0000-0001-5813-1570","affiliations":[{"raw_affiliation_string":"Robotics Innovation Center, DFKI","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Popescu, Mihaela","orcid":null},"institutions":[{"id":"https://openalex.org/I180437899","display_name":"University of Bremen","ror":"https://ror.org/04ers2y35","country_code":"DE","type":"education","lineage":["https://openalex.org/I180437899"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Popescu, Mihaela","raw_affiliation_strings":["University of Bremen"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bremen","institution_ids":["https://openalex.org/I180437899"]}]},{"author_position":"last","author":{"id":null,"display_name":"Kirchner, Frank","orcid":"https://orcid.org/0000-0002-1713-9784"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kirchner, Frank","raw_affiliation_strings":["Robotics Innovation Center, DFKI, University of Bremen"],"raw_orcid":"https://orcid.org/0000-0002-1713-9784","affiliations":[{"raw_affiliation_string":"Robotics Innovation Center, DFKI, University of Bremen","institution_ids":["https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T10168","display_name":"COVID-19 and Mental Health","score":0.17399999499320984,"subfield":{"id":"https://openalex.org/subfields/3203","display_name":"Clinical Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10168","display_name":"COVID-19 and Mental Health","score":0.17399999499320984,"subfield":{"id":"https://openalex.org/subfields/3203","display_name":"Clinical Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10410","display_name":"COVID-19 epidemiological studies","score":0.11400000005960464,"subfield":{"id":"https://openalex.org/subfields/2611","display_name":"Modeling and Simulation"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10990","display_name":"Infection Control and Ventilation","score":0.035599999129772186,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.9085999727249146},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6754000186920166},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6496999859809875},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5957000255584717},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5758000016212463},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5550000071525574},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.5187000036239624},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.48500001430511475}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.9085999727249146},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6754000186920166},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6496999859809875},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6402999758720398},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5957000255584717},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5781000256538391},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5758000016212463},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5550000071525574},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.5187000036239624},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.48500001430511475},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4503999948501587},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.414000004529953},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.40939998626708984},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.4068000018596649},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3555000126361847},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3476000130176544},{"id":"https://openalex.org/C167183279","wikidata":"https://www.wikidata.org/wiki/Q1243208","display_name":"Double pendulum","level":4,"score":0.3343999981880188},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.33320000767707825},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2824999988079071},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.26249998807907104},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.25450000166893005}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:zenodo.org:6498036","is_oa":true,"landing_page_url":"https://zenodo.org/record/6498036","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/other"},{"id":"doi:10.5281/zenodo.6498036","is_oa":true,"landing_page_url":"https://doi.org/10.5281/zenodo.6498036","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:6498036","is_oa":true,"landing_page_url":"https://zenodo.org/record/6498036","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/other"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"There":[0],"are":[1,11],"many,":[2],"wildly":[3],"different":[4,75],"approaches":[5],"to":[6,19,23,32,70,92,111],"robotic":[7,62],"control.":[8],"Underactuated":[9],"robots":[10],"systems":[12],"for":[13,118],"which":[14],"it":[15,46],"is":[16,48,57,66],"not":[17],"possible":[18],"dictate":[20],"arbitrary":[21],"accelerations":[22],"all":[24],"joints.":[25],"Hence,":[26],"a":[27,42,67,94,116],"controller":[28],"cannot":[29],"be":[30],"used":[31],"override":[33],"the":[34,39,59,80,100],"system":[35,40,63,69,97],"dynamics":[36],"and":[37,64,73,98,109,121,125,128],"force":[38],"on":[41],"desired":[43],"trajectory":[44],"as":[45],"often":[47],"done":[49],"in":[50,131],"classical":[51],"control":[52,112,123],"techniques.":[53],"A":[54],"torque-limited":[55],"pendulum":[56,96],"arguably":[58],"simplest":[60],"underactuated":[61],"thus":[65],"suitable":[68],"study,":[71],"test":[72],"benchmark":[74],"controllers.":[76],"This":[77],"repository":[78],"describes":[79],"hardware":[81],"(Computer-aided":[82],"design":[83],"(CAD)":[84],"models,":[85,107],"Bill":[86],"Of":[87],"Materials":[88],"(BOM),":[89],"etc.)":[90],"required":[91],"build":[93],"physical":[95],"provides":[99,115],"software":[101],"(Unified":[102],"Robot":[103],"Description":[104],"Format":[105],"(URDF)":[106],"simulation":[108],"controller)":[110],"it.":[113],"It":[114],"setup":[117],"studying":[119,132],"established":[120],"novel":[122],"methods,":[124],"targets":[126],"students":[127],"researchers":[129],"interested":[130],"underactuation.":[133]},"counts_by_year":[],"updated_date":"2025-11-06T06:51:31.235846","created_date":"2025-10-10T00:00:00"}