{"id":"https://openalex.org/W2187227507","doi":"https://doi.org/10.1007/978-1-84628-974-3_10","title":"Control for a Three-Joint Underactuated Planar Manipulator - Interconnection and Damping Assignment Passivity-Based Control Approach","display_name":"Control for a Three-Joint Underactuated Planar Manipulator - Interconnection and Damping Assignment Passivity-Based Control Approach","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W2187227507","doi":"https://doi.org/10.1007/978-1-84628-974-3_10","mag":"2187227507"},"language":"en","primary_location":{"id":"doi:10.1007/978-1-84628-974-3_10","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-1-84628-974-3_10","pdf_url":null,"source":{"id":"https://openalex.org/S49978999","display_name":"Lecture notes in control and information sciences","issn_l":"0170-8643","issn":["0170-8643","1610-7411"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"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"},"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/A5083869196","display_name":"Masahide Ito","orcid":"https://orcid.org/0000-0002-9502-187X"},"institutions":[{"id":"https://openalex.org/I45205469","display_name":"Aichi Prefectural University","ror":"https://ror.org/047n0b268","country_code":"JP","type":"education","lineage":["https://openalex.org/I45205469"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahide Ito","raw_affiliation_strings":["Graduate School of Information Science and Technology, Aichi Prefectural University, Nagakute-cho, Aichi-gun, Aichi 480-1198, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, Aichi Prefectural University, Nagakute-cho, Aichi-gun, Aichi 480-1198, Japan","institution_ids":["https://openalex.org/I45205469"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047185748","display_name":"Naohiro Toda","orcid":"https://orcid.org/0000-0002-8475-5827"},"institutions":[{"id":"https://openalex.org/I45205469","display_name":"Aichi Prefectural University","ror":"https://ror.org/047n0b268","country_code":"JP","type":"education","lineage":["https://openalex.org/I45205469"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Naohiro Toda","raw_affiliation_strings":["Graduate School of Information Science and Technology, Aichi Prefectural University, Nagakute-cho, Aichi-gun, Aichi 480-1198, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, Aichi Prefectural University, Nagakute-cho, Aichi-gun, Aichi 480-1198, Japan","institution_ids":["https://openalex.org/I45205469"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.21699819,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"109","last_page":"117"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9998999834060669,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9998999834060669,"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/T12763","display_name":"ATP Synthase and ATPases Research","score":0.9754999876022339,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9485999941825867,"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/passivity","display_name":"Passivity","score":0.9328805208206177},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8865273594856262},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8195985555648804},{"id":"https://openalex.org/keywords/interconnection","display_name":"Interconnection","score":0.6653683185577393},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5772442817687988},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5335479378700256},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4606163203716278},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.43443599343299866},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.33500999212265015},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31757503747940063},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11961877346038818},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07927849888801575}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.9328805208206177},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8865273594856262},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8195985555648804},{"id":"https://openalex.org/C123745756","wikidata":"https://www.wikidata.org/wiki/Q1665949","display_name":"Interconnection","level":2,"score":0.6653683185577393},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5772442817687988},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5335479378700256},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4606163203716278},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.43443599343299866},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.33500999212265015},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31757503747940063},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11961877346038818},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07927849888801575},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/978-1-84628-974-3_10","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-1-84628-974-3_10","pdf_url":null,"source":{"id":"https://openalex.org/S49978999","display_name":"Lecture notes in control and information sciences","issn_l":"0170-8643","issn":["0170-8643","1610-7411"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W157206788","https://openalex.org/W1558082678","https://openalex.org/W1578842306","https://openalex.org/W1971044547","https://openalex.org/W1985578018","https://openalex.org/W2018565263","https://openalex.org/W2081727243","https://openalex.org/W2110204679","https://openalex.org/W2125968092","https://openalex.org/W2144355672","https://openalex.org/W2150270730","https://openalex.org/W2161401171","https://openalex.org/W2171676780","https://openalex.org/W4214690803"],"related_works":["https://openalex.org/W3011780955","https://openalex.org/W2079584318","https://openalex.org/W41446018","https://openalex.org/W2540077422","https://openalex.org/W2807593021","https://openalex.org/W565008099","https://openalex.org/W1495559799","https://openalex.org/W3140581650","https://openalex.org/W2363498782","https://openalex.org/W70498098"],"abstract_inverted_index":null,"counts_by_year":[{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}