{"id":"https://openalex.org/W2106002173","doi":"https://doi.org/10.1109/iros.2006.282467","title":"General Kinematic Synthesis Method for a Discretely Actuated Robotic Manipulator (D-ARM)","display_name":"General Kinematic Synthesis Method for a Discretely Actuated Robotic Manipulator (D-ARM)","publication_year":2006,"publication_date":"2006-10-01","ids":{"openalex":"https://openalex.org/W2106002173","doi":"https://doi.org/10.1109/iros.2006.282467","mag":"2106002173"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2006.282467","doi":"https://doi.org/10.1109/iros.2006.282467","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2006.282467","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"volume":null,"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/A5010499178","display_name":"Keizo Miyahara","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Miyahara Keizo","raw_affiliation_strings":["Department of Mechanical Engineering, Graduate School of Engineering Osaka University, Suita, Osaka, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Graduate School of Engineering Osaka University, Suita, Osaka, JAPAN","institution_ids":["https://openalex.org/I98285908"]}]},{"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"]},{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP","US"],"is_corresponding":false,"raw_author_name":"Gregory Chirikjian","raw_affiliation_strings":["Department of Mechanical Engineering, G.W.C.Whiting School of Engineering, Johns Hopkins University, Baltimore, MD, USA","Department of Mechanical Engineering, Graduate School of Engineering Osaka University, Suita, Osaka, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, G.W.C.Whiting School of Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Graduate School of Engineering Osaka University, Suita, Osaka, JAPAN","institution_ids":["https://openalex.org/I98285908"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0697,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.72226661,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":97},"biblio":{"volume":"1","issue":null,"first_page":"5889","last_page":"5894"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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":1.0,"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":9.999999747378752e-05,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.0,"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/kinematic-synthesis","display_name":"mechanism synthesis","score":0.9369999766349792},{"id":"https://openalex.org/keywords/solenoid-actuator","display_name":"solenoid actuator","score":0.8379999995231628},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"inverse kinematics","score":0.8299999833106995},{"id":"https://openalex.org/keywords/jacobian-matrix","display_name":"Jacobian matrix","score":0.7820000052452087},{"id":"https://openalex.org/keywords/generalized-inverses","display_name":"generalized inverses","score":0.8659999966621399},{"id":"https://openalex.org/keywords/se-3","display_name":"SE(3)","score":0.7799999713897705},{"id":"https://openalex.org/keywords/manipulator-design","display_name":"manipulator design","score":0.5580000281333923}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7743380069732666},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7221122980117798},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6262435913085938},{"id":"https://openalex.org/C19939924","wikidata":"https://www.wikidata.org/wiki/Q852195","display_name":"Euclidean group","level":4,"score":0.6142078042030334},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5258498787879944},{"id":"https://openalex.org/C186450821","wikidata":"https://www.wikidata.org/wiki/Q17295","display_name":"Euclidean space","level":2,"score":0.48260533809661865},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47872257232666016},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4294775128364563},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42052778601646423},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3731844425201416},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35695457458496094},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3467205762863159},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32452428340911865},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14852765202522278},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.13913917541503906},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13634616136550903},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.1303960084915161},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11492928862571716},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.09064275026321411},{"id":"https://openalex.org/C173110770","wikidata":"https://www.wikidata.org/wiki/Q382698","display_name":"Affine space","level":3,"score":0.07227513194084167},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2006.282467","doi":"https://doi.org/10.1109/iros.2006.282467","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2006.282467","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.219.7142","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.219.7142","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://caesar.me.jhu.edu/wiki/images/1/1c/Miyahara06_b.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":16,"referenced_works":["https://openalex.org/W1558446093","https://openalex.org/W1564897360","https://openalex.org/W1569280314","https://openalex.org/W1675003565","https://openalex.org/W1964408868","https://openalex.org/W1996273205","https://openalex.org/W2052935743","https://openalex.org/W2093849225","https://openalex.org/W2098572589","https://openalex.org/W2104899284","https://openalex.org/W2113706627","https://openalex.org/W2149118284","https://openalex.org/W2149846618","https://openalex.org/W2154270935","https://openalex.org/W2431063929","https://openalex.org/W3192342399"],"related_works":["https://openalex.org/W2145909070","https://openalex.org/W4405752625","https://openalex.org/W7100431819","https://openalex.org/W2114452165","https://openalex.org/W2700657403","https://openalex.org/W7020002563","https://openalex.org/W2042378309","https://openalex.org/W2029246876","https://openalex.org/W4200531879","https://openalex.org/W2941275496"],"abstract_inverted_index":{"A":[0],"\"discretely":[1],"actuated":[2],"robotic":[3,14],"manipulator\",":[4],"or":[5],"\"D-ARM\",":[6],"is":[7,38,92,119],"any":[8],"member":[9],"of":[10,13,30,36,41,51,99,116,126,140,153],"a":[11,62,100,104,124],"class":[12],"manipulators":[15],"powered":[16],"by":[17],"actuators":[18],"such":[19],"as":[20],"solenoids":[21],"that":[22,120],"have":[23],"only":[24],"discrete":[25],"stable":[26],"positional":[27],"states.":[28],"One":[29],"the":[31,39,59,131,143,151,154],"most":[32],"significant":[33],"kinematic":[34,97,128],"phenomena":[35],"D-ARMs":[37,52],"discreteness":[40],"both":[42],"input":[43],"range":[44],"and":[45,109],"end-effector":[46],"frames.":[47],"The":[48,88,114,147],"main":[49],"characteristics":[50],"are:":[53],"stability":[54],"at":[55],"each":[56],"state":[57],"without":[58],"need":[60],"for":[61,79],"feedback":[63],"loop;":[64],"high":[65],"task":[66],"repeatability;":[67],"mechanism":[68],"simplicity;":[69],"minimal":[70],"supporting":[71],"devices;":[72],"low":[73],"cost.":[74],"These":[75],"are":[76],"strong":[77],"advantages":[78],"manufacturing":[80],"automation;":[81],"mobile":[82],"robots;":[83],"space":[84],"structures;":[85],"micro/nano":[86],"mechanisms.":[87],"proposed":[89],"design":[90],"method":[91,118,156],"based":[93],"on":[94,130,142],"an":[95],"incremental":[96],"synthesis":[98,155],"base-line":[101],"manipulator":[102],"using":[103],"numerically":[105],"obtained":[106],"Jacobian":[107],"matrix":[108],"its":[110],"generalized":[111],"inverse":[112,127],"matrix.":[113],"significance":[115],"this":[117],"it":[121],"deals":[122],"with":[123],"set":[125],"problems":[129],"special":[132],"Euclidean":[133,144],"group":[134],"in":[135],"three":[136],"space,":[137,145],"SE(3),":[138],"instead":[139],"one":[141],"Ropf3.":[146],"conducted":[148],"simulations":[149],"demonstrate":[150],"feasibility":[152]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2013,"cited_by_count":2}],"updated_date":"2026-10-26T11:51:55.731654","created_date":"2016-06-24T00:00:00"}
