{"id":"https://openalex.org/W1481324312","doi":"https://doi.org/10.1007/3-540-45118-8_16","title":"Design and Implementation of a New Discretely-Actuated Manipulator","display_name":"Design and Implementation of a New Discretely-Actuated Manipulator","publication_year":2007,"publication_date":"2007-09-03","ids":{"openalex":"https://openalex.org/W1481324312","doi":"https://doi.org/10.1007/3-540-45118-8_16","mag":"1481324312"},"language":"en","primary_location":{"id":"doi:10.1007/3-540-45118-8_16","doi":"https://doi.org/10.1007/3-540-45118-8_16","is_oa":false,"landing_page_url":"https://doi.org/10.1007/3-540-45118-8_16","pdf_url":null,"source":{"id":"https://openalex.org/S4306463937","display_name":"Springer eBooks","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"ebook platform"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Control and Information Sciences","raw_type":"book-chapter"},"volume":{"id":"https://openalex.org/W581008847","display_name":"Experimental Robotics VII"},"type":"book-chapter","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/A5075294918","display_name":"Jackrit Suthakorn","orcid":"https://orcid.org/0000-0003-1333-3982","observed_orcids":["https://orcid.org/0000-0003-1333-3982","https://orcid.org/0000-0001-7522-164X"]},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jackrit Suthakorn","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, USA","Johns Hopkins University ("],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Johns Hopkins University (","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012775344","display_name":"Gregory S. Chirikjian","orcid":"https://orcid.org/0000-0003-0542-9028","observed_orcids":["https://orcid.org/0000-0003-0542-9028"]},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregory S. Chirikjian","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, USA","Johns Hopkins University ("],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Johns Hopkins University (","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":1.8964,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.87275882,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"151","last_page":"157"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9961000084877014,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9961000084877014,"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":0.003000000026077032,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":9.999999747378752e-05,"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/robotic-manipulator-design","display_name":"robot manipulator design","score":0.7799999713897705},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"fault tolerance","score":0.7639999985694885},{"id":"https://openalex.org/keywords/actuator-faults","display_name":"actuator faults","score":0.7390000224113464},{"id":"https://openalex.org/keywords/repeatability","display_name":"repeatability","score":0.7979999780654907},{"id":"https://openalex.org/keywords/low-cost-actuators","display_name":"low-cost actuators","score":0.6890000104904175}],"concepts":[{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.8632652163505554},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7941214442253113},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.7348031997680664},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5418333411216736},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5406792163848877},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.5400500893592834},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5294983983039856},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5242759585380554},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4621945023536682},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34530746936798096},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29013222455978394},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20919504761695862},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11712822318077087},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/3-540-45118-8_16","doi":"https://doi.org/10.1007/3-540-45118-8_16","is_oa":false,"landing_page_url":"https://doi.org/10.1007/3-540-45118-8_16","pdf_url":null,"source":{"id":"https://openalex.org/S4306463937","display_name":"Springer eBooks","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"ebook platform"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Control and Information Sciences","raw_type":"book-chapter"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.89.9016","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.89.9016","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://custer.me.jhu.edu/pdf/suthakorn.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W197002553","https://openalex.org/W198676126","https://openalex.org/W766961690","https://openalex.org/W1543519602","https://openalex.org/W1561587621","https://openalex.org/W1569280314","https://openalex.org/W1577412121","https://openalex.org/W1585577797","https://openalex.org/W1609223620","https://openalex.org/W1649105263","https://openalex.org/W1909393615","https://openalex.org/W1965051956","https://openalex.org/W1974489012","https://openalex.org/W1975153089","https://openalex.org/W1980110340","https://openalex.org/W1980544124","https://openalex.org/W1988695968","https://openalex.org/W1996273205","https://openalex.org/W1999730797","https://openalex.org/W2031048748","https://openalex.org/W2036288719","https://openalex.org/W2048786044","https://openalex.org/W2050708324","https://openalex.org/W2059242341","https://openalex.org/W2060506423","https://openalex.org/W2068583559","https://openalex.org/W2075210082","https://openalex.org/W2098572589","https://openalex.org/W2103643819","https://openalex.org/W2110365028","https://openalex.org/W2111241070","https://openalex.org/W2111443141","https://openalex.org/W2113706627","https://openalex.org/W2120886685","https://openalex.org/W2122398245","https://openalex.org/W2138406447","https://openalex.org/W2140517064","https://openalex.org/W2140665042","https://openalex.org/W2143660670","https://openalex.org/W2145350753","https://openalex.org/W2148499304","https://openalex.org/W2149602461","https://openalex.org/W2159296442","https://openalex.org/W2165281806","https://openalex.org/W2170315376","https://openalex.org/W2334021688","https://openalex.org/W2623660146","https://openalex.org/W2996773833","https://openalex.org/W3126441471","https://openalex.org/W3142707146"],"related_works":["https://openalex.org/W2022475798","https://openalex.org/W2982498237","https://openalex.org/W1996273205","https://openalex.org/W1569280314","https://openalex.org/W7098091304","https://openalex.org/W179920240","https://openalex.org/W1979475354","https://openalex.org/W2112575362","https://openalex.org/W2019917598","https://openalex.org/W4407449625"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2016-06-24T00:00:00"}