{"id":"https://openalex.org/W2225400605","doi":"https://doi.org/10.1007/978-3-319-22873-0_15","title":"Lecture Notes in Computer Science: An Antagonistic Actuation Technique for Simultaneous Stiffness and Position Control","display_name":"Lecture Notes in Computer Science: An Antagonistic Actuation Technique for Simultaneous Stiffness and Position Control","publication_year":2015,"publication_date":"2015-01-01","ids":{"openalex":"https://openalex.org/W2225400605","doi":"https://doi.org/10.1007/978-3-319-22873-0_15","mag":"2225400605"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-319-22873-0_15","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-319-22873-0_15","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"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 Computer Science","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/A5062557484","display_name":"Helge W\u00fcrdemann","orcid":"https://orcid.org/0000-0003-3082-146X"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Helge A. Wurdemann","raw_affiliation_strings":["Centre for Robotics Research (CoRe), Department of Informatics, King\u2019s College London, Strand, London, UK","Centre for Robotics Research (CoRe), Department of Informatics, King's College London, Strand, London, UK"],"affiliations":[{"raw_affiliation_string":"Centre for Robotics Research (CoRe), Department of Informatics, King\u2019s College London, Strand, London, UK","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"Centre for Robotics Research (CoRe), Department of Informatics, King's College London, Strand, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033887596","display_name":"Agostino Stilli","orcid":"https://orcid.org/0000-0002-4904-0500"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Agostino Stilli","raw_affiliation_strings":["Centre for Robotics Research (CoRe), Department of Informatics, King\u2019s College London, Strand, London, UK","Centre for Robotics Research (CoRe), Department of Informatics, King's College London, Strand, London, UK"],"affiliations":[{"raw_affiliation_string":"Centre for Robotics Research (CoRe), Department of Informatics, King\u2019s College London, Strand, London, UK","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"Centre for Robotics Research (CoRe), Department of Informatics, King's College London, Strand, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042583278","display_name":"Kaspar Althoefer","orcid":"https://orcid.org/0000-0002-1141-9996"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kaspar Althoefer","raw_affiliation_strings":["Centre for Robotics Research (CoRe), Department of Informatics, King\u2019s College London, Strand, London, UK","Centre for Robotics Research (CoRe), Department of Informatics, King's College London, Strand, London, UK"],"affiliations":[{"raw_affiliation_string":"Centre for Robotics Research (CoRe), Department of Informatics, King\u2019s College London, Strand, London, UK","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"Centre for Robotics Research (CoRe), Department of Informatics, King's College London, Strand, London, UK","institution_ids":["https://openalex.org/I183935753"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5062557484"],"corresponding_institution_ids":["https://openalex.org/I183935753"],"apc_list":{"value":5000,"currency":"EUR","value_usd":5392},"apc_paid":null,"fwci":7.5234,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.97379062,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"164","last_page":"174"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.991100013256073,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.98089998960495,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7778128385543823},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6474717855453491},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6412165760993958},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4878554344177246},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.46105849742889404},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4275958240032196},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4165321886539459},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3825259208679199},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3466963768005371},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21474817395210266},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.15486854314804077},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06952974200248718}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7778128385543823},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6474717855453491},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6412165760993958},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4878554344177246},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.46105849742889404},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4275958240032196},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4165321886539459},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3825259208679199},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3466963768005371},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21474817395210266},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.15486854314804077},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06952974200248718},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1007/978-3-319-22873-0_15","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-319-22873-0_15","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"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 Computer Science","raw_type":"book-chapter"},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:1479248","is_oa":false,"landing_page_url":"http://discovery.ucl.ac.uk/1479248/","pdf_url":null,"source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"     In: Liu, H and Kubota, N and Zhu, X and Dillmann, R and Zhou, D, (eds.)  (Proceedings) 8th International Conference on Intelligent Robotics and Applications (ICIRA). (pp. pp. 164-174).  SPRINGER-VERLAG BERLIN (2015)     ","raw_type":"Proceedings paper"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/a35e82d2-4ceb-44b5-afe6-51edf0710e49","is_oa":false,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/a35e82d2-4ceb-44b5-afe6-51edf0710e49","pdf_url":null,"source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"W\u00fcrdemann, H, Stilli, A & Althoefer, K 2015, 'Lecture notes in computer science : An antagonistic actuation technique for simultaneous stiffness and position control', Lecture Notes in Computer Science, vol. 9246, pp. 164-174. https://doi.org/10.1007/978-3-319-22873-0_15","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W139226361","https://openalex.org/W393689543","https://openalex.org/W1576967268","https://openalex.org/W1771073220","https://openalex.org/W1919781749","https://openalex.org/W1966705057","https://openalex.org/W1983067379","https://openalex.org/W1984831423","https://openalex.org/W1985060396","https://openalex.org/W1985934131","https://openalex.org/W1989710690","https://openalex.org/W1992020923","https://openalex.org/W1996023871","https://openalex.org/W1997060717","https://openalex.org/W1997480144","https://openalex.org/W2014502771","https://openalex.org/W2015106839","https://openalex.org/W2031938550","https://openalex.org/W2032973306","https://openalex.org/W2046748649","https://openalex.org/W2049460350","https://openalex.org/W2049511808","https://openalex.org/W2070122598","https://openalex.org/W2070970799","https://openalex.org/W2072293370","https://openalex.org/W2117162300","https://openalex.org/W2140790068","https://openalex.org/W2152185829","https://openalex.org/W2164418635","https://openalex.org/W2241606133","https://openalex.org/W2296375030","https://openalex.org/W2535851765","https://openalex.org/W3141952980","https://openalex.org/W3148166280","https://openalex.org/W4200084300"],"related_works":["https://openalex.org/W4221151082","https://openalex.org/W1822286577","https://openalex.org/W4226071493","https://openalex.org/W1865242774","https://openalex.org/W4287366416","https://openalex.org/W3125554166","https://openalex.org/W2342759321","https://openalex.org/W4367840468","https://openalex.org/W4379874878","https://openalex.org/W2914311597"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
