{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,27]],"date-time":"2025-03-27T00:17:04Z","timestamp":1743034624668,"version":"3.40.3"},"publisher-location":"Singapore","reference-count":17,"publisher":"Springer Nature Singapore","isbn-type":[{"type":"print","value":"9789819964918"},{"type":"electronic","value":"9789819964925"}],"license":[{"start":{"date-parts":[[2023,1,1]],"date-time":"2023-01-01T00:00:00Z","timestamp":1672531200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,1,1]],"date-time":"2023-01-01T00:00:00Z","timestamp":1672531200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2023]]},"DOI":"10.1007\/978-981-99-6492-5_25","type":"book-chapter","created":{"date-parts":[[2023,10,15]],"date-time":"2023-10-15T18:01:56Z","timestamp":1697392916000},"page":"282-293","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Control of\u00a0the\u00a0Wheeled Bipedal Robot on\u00a0Roads with\u00a0Large and\u00a0Unknown Inclination"],"prefix":"10.1007","author":[{"given":"Baining","family":"Tu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Biao","family":"Lu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Minnan","family":"Piao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2023,10,16]]},"reference":[{"key":"25_CR1","doi-asserted-by":"publisher","unstructured":"Bjelonic M., Klemm V., Lee J., Hutter M.: A survey of wheeled-legged robots. In: Cascalho J.M., Tokhi M.O., Silva M.F., Mendes A., Goher K., Funk M. (eds) Robotics in Natural Settings. CLAWAR 2022. Lecture Notes in Networks and Systems, vol. 530. Springer, Cham (2023). https:\/\/doi.org\/10.1007\/978-3-031-15226-9_11","DOI":"10.1007\/978-3-031-15226-9_11"},{"key":"25_CR2","doi-asserted-by":"crossref","unstructured":"Klemm V. et al.: Ascento: a two-wheeled jumping robot. In: International Conference on Robotics and Automation (ICRA), pp. 7515\u20137521 (2019)","DOI":"10.1109\/ICRA.2019.8793792"},{"key":"25_CR3","unstructured":"ETH Z\u00fcrich: This robot is a security guard - Ascento. https:\/\/www.youtube.com\/watch?v=VWfBvq4QfEY. Accessed 20 May 2023"},{"key":"25_CR4","unstructured":"Boston Dynamics: Introducing handle.https:\/\/youtu.be\/-7xvqQeoA8c. Accessed 20 May 2023"},{"issue":"1","key":"25_CR5","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/TRO.2017.2776287","volume":"34","author":"T Jung","year":"2018","unstructured":"Jung, T., et al.: Development of the humanoid disaster response platform DRC-HUBO+. IEEE Trans. Rob. 34(1), 1\u201317 (2018)","journal-title":"IEEE Trans. Rob."},{"key":"25_CR6","doi-asserted-by":"publisher","first-page":"511","DOI":"10.1007\/s11633-019-1172-0","volume":"16","author":"KM Goher","year":"2019","unstructured":"Goher, K.M., Fadlallah, S.O.: Control of a two-wheeled machine with two-directions handling mechanism using PID and PD-FLC algorithms. Int. J. Autom. Comput. 16, 511\u2013533 (2019)","journal-title":"Int. J. Autom. Comput."},{"key":"25_CR7","doi-asserted-by":"publisher","first-page":"683","DOI":"10.1007\/s10846-020-01158-4","volume":"99","author":"T Johnson","year":"2020","unstructured":"Johnson, T., et al.: Implementation of a perceptual controller for an inverted pendulum robot. J. Intell. Rob. Syst. 99, 683\u2013692 (2020)","journal-title":"J. Intell. Rob. Syst."},{"key":"25_CR8","doi-asserted-by":"publisher","first-page":"601","DOI":"10.1007\/s10846-017-0486-9","volume":"87","author":"N Esmaeili","year":"2017","unstructured":"Esmaeili, N., Alfi, A., Khosravi, H.: Balancing and trajectory tracking of two-wheeled mobile robot using backstepping sliding mode control: design and experiments. J. Intell. Rob. Syst. 87, 601\u2013613 (2017)","journal-title":"J. Intell. Rob. Syst."},{"key":"25_CR9","doi-asserted-by":"crossref","unstructured":"Cao, H., Lu, B., Liu, H., Liu, R., Guo, X.: Modeling and MPC-based balance control for a wheeled bipedal robot. In: 41st Chinese Control Conference (CCC), pp. 420\u2013425. IEEE, Hefei (2022)","DOI":"10.23919\/CCC55666.2022.9901979"},{"issue":"4","key":"25_CR10","doi-asserted-by":"publisher","first-page":"2030","DOI":"10.1109\/TFUZZ.2017.2760283","volume":"26","author":"J Huang","year":"2018","unstructured":"Huang, J., Ri, M., Wu, D., Ri, S.: Interval type-2 fuzzy logic modeling and control of a mobile two-wheeled inverted pendulum. IEEE Trans. Fuzzy Syst. 26(4), 2030\u20132038 (2018)","journal-title":"IEEE Trans. Fuzzy Syst."},{"issue":"7","key":"25_CR11","doi-asserted-by":"publisher","first-page":"3671","DOI":"10.1109\/TIE.2013.2282594","volume":"61","author":"J-X Xu","year":"2013","unstructured":"Xu, J.-X., Guo, Z.-Q., Lee, T.H.: Design and implementation of integral sliding-mode control on an underactuated two-wheeled mobile robot. IEEE Trans. Ind. Electron. 61(7), 3671\u20133681 (2013)","journal-title":"IEEE Trans. Ind. Electron."},{"key":"25_CR12","doi-asserted-by":"crossref","unstructured":"Zhou, H., et al.: Control of the two-wheeled inverted pendulum (TWIP) robot moving on the continuous uneven ground. In: International Conference on Robotics and Biomimetics (ROBIO), pp. 1588\u20131594. IEEE, Dali (2019)","DOI":"10.1109\/ROBIO49542.2019.8961858"},{"key":"25_CR13","unstructured":"Welch, G., Bishop, G.: An introduction to the kalman filter. In: 28th International Conference on Computer Graphics and Interactive Techniques (SIGGRAPH), Course 8, pp. 27599\u201323175. Association for Computing Machinery, Los Angeles (2001)"},{"key":"25_CR14","first-page":"172","volume-title":"Sliding Mode Control and Matlab Simulation: The Design Method of Advanced Control System","author":"J Liu","year":"2021","unstructured":"Liu, J.: Sliding Mode Control and Matlab Simulation: The Design Method of Advanced Control System, 4th edn., pp. 172\u2013173. Tsinghua University Press, Beijing (2021)","edition":"4"},{"key":"25_CR15","doi-asserted-by":"crossref","unstructured":"Wan, E.A., Van Der Merwe, R.: The unscented kalman filter for nonlinear estimation. In: IEEE Adaptive Systems for Signal Processing. Communications, and Control Symposium (AS-SPCC), pp. 153\u2013158. IEEE, Lake Louise (2000)","DOI":"10.1109\/ASSPCC.2000.882463"},{"key":"25_CR16","doi-asserted-by":"crossref","unstructured":"Julier, S.J.: The scaled unscented transformation. In: American Control Conference (ACC), pp. 4555\u20134559. IEEE, Anchorage (2002)","DOI":"10.1109\/ACC.2002.1025369"},{"key":"25_CR17","doi-asserted-by":"publisher","first-page":"77","DOI":"10.1016\/j.fss.2012.04.004","volume":"207","author":"J Xu","year":"2012","unstructured":"Xu, J., Guo, Z., Lee, T.: Synthesized design of a fuzzy logic controller for an underactuated unicycle. Fuzzy Sets Syst. 207, 77\u201393 (2012)","journal-title":"Fuzzy Sets Syst."}],"container-title":["Lecture Notes in Computer Science","Intelligent Robotics and Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-981-99-6492-5_25","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,10,30]],"date-time":"2024-10-30T21:41:59Z","timestamp":1730324519000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-981-99-6492-5_25"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023]]},"ISBN":["9789819964918","9789819964925"],"references-count":17,"URL":"https:\/\/doi.org\/10.1007\/978-981-99-6492-5_25","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"type":"print","value":"0302-9743"},{"type":"electronic","value":"1611-3349"}],"subject":[],"published":{"date-parts":[[2023]]},"assertion":[{"value":"16 October 2023","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"ICIRA","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Conference on Intelligent Robotics and Applications","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Hangzhou","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"China","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2023","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"5 July 2023","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"7 July 2023","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"icira2023","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"https:\/\/icira2023.org\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Single-blind","order":1,"name":"type","label":"Type","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"Microsoft CMT","order":2,"name":"conference_management_system","label":"Conference Management System","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"630","order":3,"name":"number_of_submissions_sent_for_review","label":"Number of Submissions Sent for Review","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"431","order":4,"name":"number_of_full_papers_accepted","label":"Number of Full Papers Accepted","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"0","order":5,"name":"number_of_short_papers_accepted","label":"Number of Short Papers Accepted","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"68% - The value is computed by the equation \"Number of Full Papers Accepted \/ Number of Submissions Sent for Review * 100\" and then rounded to a whole number.","order":6,"name":"acceptance_rate_of_full_papers","label":"Acceptance Rate of Full Papers","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"2","order":7,"name":"average_number_of_reviews_per_paper","label":"Average Number of Reviews per Paper","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"2","order":8,"name":"average_number_of_papers_per_reviewer","label":"Average Number of Papers per Reviewer","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"Yes","order":9,"name":"external_reviewers_involved","label":"External Reviewers Involved","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}}]}}