{"id":"https://openalex.org/W1658668898","doi":"https://doi.org/10.1007/bfb0042515","title":"Asymmetric hybrid control of positions and forces of a dual arm robot to share loads","display_name":"Asymmetric hybrid control of positions and forces of a dual arm robot to share loads","publication_year":1990,"publication_date":"1990-01-01","ids":{"openalex":"https://openalex.org/W1658668898","doi":"https://doi.org/10.1007/bfb0042515","mag":"1658668898"},"language":"en","primary_location":{"id":"doi:10.1007/bfb0042515","is_oa":false,"landing_page_url":"https://doi.org/10.1007/bfb0042515","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/A5083473038","display_name":"Masaru Uchiyama","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaru Uchiyama","raw_affiliation_strings":["Department of Precision Engineering, Tohoku University, Sendai, Japan","Dept. of Precision Eng., Tohoku Univ., Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Dept. of Precision Eng., Tohoku Univ., Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110790719","display_name":"Toshiaki Yamashita","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshiaki Yamashita","raw_affiliation_strings":["Department of Precision Engineering, Tohoku University, Sendai, Japan","Dept. of Precision Eng., Tohoku Univ., Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Dept. of Precision Eng., Tohoku Univ., Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.631,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.94670846,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"100","last_page":"115"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.998199999332428,"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":0.9980999827384949,"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/dual","display_name":"Dual (grammatical number)","score":0.7686834335327148},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.7364575862884521},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6557576656341553},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6372195482254028},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.574616014957428},{"id":"https://openalex.org/keywords/load-sharing","display_name":"Load sharing","score":0.5632163286209106},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.546894371509552},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5128564834594727},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4224299490451813},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4146530032157898},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3351776599884033},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3277183175086975},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24665099382400513},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24512845277786255},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1548326015472412},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.0716036856174469}],"concepts":[{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.7686834335327148},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.7364575862884521},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6557576656341553},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6372195482254028},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.574616014957428},{"id":"https://openalex.org/C3019828297","wikidata":"https://www.wikidata.org/wiki/Q575614","display_name":"Load sharing","level":2,"score":0.5632163286209106},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.546894371509552},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5128564834594727},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4224299490451813},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4146530032157898},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3351776599884033},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3277183175086975},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24665099382400513},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24512845277786255},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1548326015472412},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.0716036856174469},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/bfb0042515","is_oa":false,"landing_page_url":"https://doi.org/10.1007/bfb0042515","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":[{"id":"https://metadata.un.org/sdg/7","score":0.5899999737739563,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1606247433","https://openalex.org/W1913694502","https://openalex.org/W2026054764","https://openalex.org/W2114945409","https://openalex.org/W2122100123","https://openalex.org/W2123736282","https://openalex.org/W2128671915","https://openalex.org/W2130351752","https://openalex.org/W2153319462","https://openalex.org/W2157168855","https://openalex.org/W2162703587","https://openalex.org/W2222158070","https://openalex.org/W2274713482","https://openalex.org/W2541436540","https://openalex.org/W2671504593","https://openalex.org/W2724172964","https://openalex.org/W3161630016","https://openalex.org/W4243788692","https://openalex.org/W7052345722"],"related_works":["https://openalex.org/W1975289146","https://openalex.org/W4385452609","https://openalex.org/W2105887828","https://openalex.org/W2122599759","https://openalex.org/W2658949566","https://openalex.org/W4388893656","https://openalex.org/W1505290414","https://openalex.org/W2108575589","https://openalex.org/W2605331264","https://openalex.org/W2715426920"],"abstract_inverted_index":null,"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}