{"id":"https://openalex.org/W4401414716","doi":"https://doi.org/10.1109/icra57147.2024.10611567","title":"Design and Experimental Characterisation of a Novel Quasi-Direct Drive Actuator for Highly Dynamic Robotic Applications","display_name":"Design and Experimental Characterisation of a Novel Quasi-Direct Drive Actuator for Highly Dynamic Robotic Applications","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414716","doi":"https://doi.org/10.1109/icra57147.2024.10611567"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611567","doi":"https://doi.org/10.1109/icra57147.2024.10611567","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611567","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"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/A5106356533","display_name":"C. Adri\u00e1n P\u00e9rez-D\u00edaz","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210138683","display_name":"Arquimea (Spain)","ror":"https://ror.org/04mnaqe33","country_code":"ES","type":"company","lineage":["https://openalex.org/I4210138683"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"C. Adri\u00e1n P\u00e9rez-D\u00edaz","raw_affiliation_strings":["Edificio NANOTEC, Parque Las Mantecas, Cmo de Las Mantecas,ARC Robotics, Arquimea Research Center,Santa Cruz de Tenerife,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Edificio NANOTEC, Parque Las Mantecas, Cmo de Las Mantecas,ARC Robotics, Arquimea Research Center,Santa Cruz de Tenerife,Spain","institution_ids":["https://openalex.org/I4210138683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111284147","display_name":"Ignacio Mu\u00f1oz","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210138683","display_name":"Arquimea (Spain)","ror":"https://ror.org/04mnaqe33","country_code":"ES","type":"company","lineage":["https://openalex.org/I4210138683"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Ignacio Mu\u00f1oz","raw_affiliation_strings":["Edificio NANOTEC, Parque Las Mantecas, Cmo de Las Mantecas,ARC Robotics, Arquimea Research Center,Santa Cruz de Tenerife,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Edificio NANOTEC, Parque Las Mantecas, Cmo de Las Mantecas,ARC Robotics, Arquimea Research Center,Santa Cruz de Tenerife,Spain","institution_ids":["https://openalex.org/I4210138683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111284148","display_name":"Daniel Martin-Hern\u00e1ndez","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210138683","display_name":"Arquimea (Spain)","ror":"https://ror.org/04mnaqe33","country_code":"ES","type":"company","lineage":["https://openalex.org/I4210138683"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Daniel Martin-Hern\u00e1ndez","raw_affiliation_strings":["Edificio NANOTEC, Parque Las Mantecas, Cmo de Las Mantecas,ARC Robotics, Arquimea Research Center,Santa Cruz de Tenerife,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Edificio NANOTEC, Parque Las Mantecas, Cmo de Las Mantecas,ARC Robotics, Arquimea Research Center,Santa Cruz de Tenerife,Spain","institution_ids":["https://openalex.org/I4210138683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038383101","display_name":"Carlos Candelo-Zuluaga","orcid":"https://orcid.org/0000-0003-3845-3294","observed_orcids":["https://orcid.org/0000-0003-3845-3294"]},"institutions":[{"id":"https://openalex.org/I4210138683","display_name":"Arquimea (Spain)","ror":"https://ror.org/04mnaqe33","country_code":"ES","type":"company","lineage":["https://openalex.org/I4210138683"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Carlos Candelo-Zuluaga","raw_affiliation_strings":["Edificio NANOTEC, Parque Las Mantecas, Cmo de Las Mantecas,ARC Robotics, Arquimea Research Center,Santa Cruz de Tenerife,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Edificio NANOTEC, Parque Las Mantecas, Cmo de Las Mantecas,ARC Robotics, Arquimea Research Center,Santa Cruz de Tenerife,Spain","institution_ids":["https://openalex.org/I4210138683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137609756","display_name":"Iv\u00e1n Jes\u00fas Torres Rodr\u00edguez","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210138683","display_name":"Arquimea (Spain)","ror":"https://ror.org/04mnaqe33","country_code":"ES","type":"company","lineage":["https://openalex.org/I4210138683"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Ivan Torres","raw_affiliation_strings":["Edificio NANOTEC, Parque Las Mantecas, Cmo de Las Mantecas,ARC Robotics, Arquimea Research Center,Santa Cruz de Tenerife,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Edificio NANOTEC, Parque Las Mantecas, Cmo de Las Mantecas,ARC Robotics, Arquimea Research Center,Santa Cruz de Tenerife,Spain","institution_ids":["https://openalex.org/I4210138683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137585019","display_name":"Jordi Mars\u00e0 Fargas","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210138683","display_name":"Arquimea (Spain)","ror":"https://ror.org/04mnaqe33","country_code":"ES","type":"company","lineage":["https://openalex.org/I4210138683"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jordi Mars\u00e0","raw_affiliation_strings":["Edificio NANOTEC, Parque Las Mantecas, Cmo de Las Mantecas,ARC Robotics, Arquimea Research Center,Santa Cruz de Tenerife,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Edificio NANOTEC, Parque Las Mantecas, Cmo de Las Mantecas,ARC Robotics, Arquimea Research Center,Santa Cruz de Tenerife,Spain","institution_ids":["https://openalex.org/I4210138683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023651892","display_name":"Daniel Sanz\u2010Merodio","orcid":"https://orcid.org/0000-0002-7978-683X","observed_orcids":["https://orcid.org/0000-0002-7978-683X"]},"institutions":[{"id":"https://openalex.org/I4210138683","display_name":"Arquimea (Spain)","ror":"https://ror.org/04mnaqe33","country_code":"ES","type":"company","lineage":["https://openalex.org/I4210138683"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Daniel Sanz-Merodio","raw_affiliation_strings":["Edificio NANOTEC, Parque Las Mantecas, Cmo de Las Mantecas,ARC Robotics, Arquimea Research Center,Santa Cruz de Tenerife,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Edificio NANOTEC, Parque Las Mantecas, Cmo de Las Mantecas,ARC Robotics, Arquimea Research Center,Santa Cruz de Tenerife,Spain","institution_ids":["https://openalex.org/I4210138683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056002686","display_name":"Miguel L\u00f3pez","orcid":"https://orcid.org/0000-0002-5514-4613","observed_orcids":["https://orcid.org/0000-0002-5514-4613"]},"institutions":[{"id":"https://openalex.org/I4210138683","display_name":"Arquimea (Spain)","ror":"https://ror.org/04mnaqe33","country_code":"ES","type":"company","lineage":["https://openalex.org/I4210138683"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Miguel L\u00f3pez","raw_affiliation_strings":["Edificio NANOTEC, Parque Las Mantecas, Cmo de Las Mantecas,ARC Robotics, Arquimea Research Center,Santa Cruz de Tenerife,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Edificio NANOTEC, Parque Las Mantecas, Cmo de Las Mantecas,ARC Robotics, Arquimea Research Center,Santa Cruz de Tenerife,Spain","institution_ids":["https://openalex.org/I4210138683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210138683"],"apc_list":null,"apc_paid":null,"fwci":11.1147,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.99038548,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":88,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"183","last_page":"189"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.6327999830245972,"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"}},"topics":[{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.6327999830245972,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.1720000058412552,"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/T10278","display_name":"Electric Motor Design and Analysis","score":0.08259999752044678,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/backlash","display_name":"backlash","score":0.8849999904632568},{"id":"https://openalex.org/keywords/robotic-actuators","display_name":"robot actuators","score":0.5299999713897705}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8255119919776917},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6065642237663269},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5432463884353638},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2634620666503906},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17372405529022217}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611567","doi":"https://doi.org/10.1109/icra57147.2024.10611567","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611567","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W601228132","https://openalex.org/W1539479659","https://openalex.org/W1980553723","https://openalex.org/W1984814470","https://openalex.org/W2573227850","https://openalex.org/W2772007885","https://openalex.org/W2803873619","https://openalex.org/W2903715977","https://openalex.org/W2964622555","https://openalex.org/W3015388501","https://openalex.org/W3028167303","https://openalex.org/W3101820272","https://openalex.org/W3111265104","https://openalex.org/W3193451076","https://openalex.org/W3209058326","https://openalex.org/W4214742774","https://openalex.org/W4221139580","https://openalex.org/W4283326703","https://openalex.org/W4290997675","https://openalex.org/W4312367385","https://openalex.org/W4313422906","https://openalex.org/W4383108707","https://openalex.org/W6944775362"],"related_works":["https://openalex.org/W2997785869","https://openalex.org/W7131085263","https://openalex.org/W2772007885","https://openalex.org/W7219408112","https://openalex.org/W4385324671","https://openalex.org/W2147007958","https://openalex.org/W7153147160","https://openalex.org/W2008471902","https://openalex.org/W4253759511","https://openalex.org/W7163070154"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,25,29,38,42,46,58,77,95,99,113],"design":[4,27,39],"and":[5,48,66,73,128,147,157,187],"experimental":[6,68,92],"results":[7,93,166],"of":[8,24,28,45,61,76,98,160,175,181,185,190],"a":[9,49,108,148,172],"proprioceptive,":[10],"high-bandwidth":[11],"quasi-direct":[12],"drive":[13],"(QDD)":[14],"actuator":[15,31,47,63,78,101,106],"for":[16,154,167],"highly":[17,109],"dynamic":[18,43,59,96,110],"robotic":[19],"applications.":[20],"A":[21,81],"comprehensive":[22],"review":[23],"mechanical":[26],"PULSE115-60":[30,100,105,168],"is":[32,52,79,88,152],"presented,":[33,170],"with":[34],"particular":[35],"focus":[36],"on":[37],"parameters":[40,55],"affecting":[41],"performance":[44,97,165],"full":[50],"specification":[51],"provided.":[53],"Fundamental":[54],"to":[56,70,84],"describe":[57],"behaviour":[60],"an":[62,67,179],"are":[64,102,137,145,169],"discussed,":[65],"method":[69,83],"determine":[71,85],"speed":[72],"torque":[74,87,114,118,129,173],"bandwidth":[75,115,174],"presented.":[80],"rigorous":[82],"backdrive":[86,191],"also":[89],"explained.":[90],"Finally,":[91,164],"quantifying":[94],"discussed.":[103],"The":[104,124],"has":[107],"response,":[111],"surpassing":[112],"at":[116,178],"low":[117],"amplitudes":[119],"showcased":[120],"in":[121,135,142],"state-of-the-art":[122],"literature.":[123],"differences":[125],"between":[126],"current":[127],"bandwidth,":[130],"two":[131],"concepts":[132],"often":[133],"conflated":[134],"literature,":[136],"elucidated.":[138],"Experimental":[139],"procedures":[140],"detailed":[141],"previous":[143],"work":[144],"discussed":[146],"novel":[149],"standardised":[150],"procedure":[151],"proposed":[153],"robust":[155],"characterisation":[156],"fair":[158],"comparison":[159],"different":[161],"actuation":[162],"systems.":[163],"demonstrating":[171],"66.3":[176],"Hz":[177],"amplitude":[180],"6":[182],"N\u2022m,":[183],"\u00b10.11\u00b0":[184],"backlash":[186],"0.37":[188],"N\u2022m":[189],"torque.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2024-08-09T00:00:00"}
