{"id":"https://openalex.org/W2070174786","doi":"https://doi.org/10.1007/s004220050495","title":"A holistic model for an internal representation to control the movement of a manipulator with redundant degrees of freedom","display_name":"A holistic model for an internal representation to control the movement of a manipulator with redundant degrees of freedom","publication_year":1998,"publication_date":"1998-11-23","ids":{"openalex":"https://openalex.org/W2070174786","doi":"https://doi.org/10.1007/s004220050495","mag":"2070174786"},"language":"en","primary_location":{"id":"doi:10.1007/s004220050495","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s004220050495","pdf_url":null,"source":{"id":"https://openalex.org/S87357125","display_name":"Biological Cybernetics","issn_l":"0340-1200","issn":["0340-1200","1432-0770"],"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Biological Cybernetics","raw_type":"journal-article"},"type":"article","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/A5015412413","display_name":"U. Steink\u00fchler","orcid":null},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]},{"id":"https://openalex.org/I203082224","display_name":"Hochschule Bielefeld","ror":"https://ror.org/00edvg943","country_code":"DE","type":"education","lineage":["https://openalex.org/I203082224"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ulrich Steink\u00fchler","raw_affiliation_strings":["Faculty of Biology, University of Bielefeld, Postfach 100131, D-33501 Bielefeld, Germany, , , , , , DE","Faculty of Biology, University of Bielefeld, Postfach 100131, D-33501 Bielefeld, Germany, DE"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Biology, University of Bielefeld, Postfach 100131, D-33501 Bielefeld, Germany, , , , , , DE","institution_ids":["https://openalex.org/I20121455","https://openalex.org/I203082224"]},{"raw_affiliation_string":"Faculty of Biology, University of Bielefeld, Postfach 100131, D-33501 Bielefeld, Germany, DE","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113507317","display_name":"Holk Cruse","orcid":null},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]},{"id":"https://openalex.org/I203082224","display_name":"Hochschule Bielefeld","ror":"https://ror.org/00edvg943","country_code":"DE","type":"education","lineage":["https://openalex.org/I203082224"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Holk Cruse","raw_affiliation_strings":["Faculty of Biology, University of Bielefeld, Postfach 100131, D-33501 Bielefeld, Germany, , , , , , DE","Faculty of Biology, University of Bielefeld, Postfach 100131, D-33501 Bielefeld, Germany, DE"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Biology, University of Bielefeld, Postfach 100131, D-33501 Bielefeld, Germany, , , , , , DE","institution_ids":["https://openalex.org/I20121455","https://openalex.org/I203082224"]},{"raw_affiliation_string":"Faculty of Biology, University of Bielefeld, Postfach 100131, D-33501 Bielefeld, Germany, DE","institution_ids":["https://openalex.org/I20121455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":3990,"currency":"USD","value_usd":3990},"apc_paid":null,"fwci":4.6149,"has_fulltext":false,"cited_by_count":52,"citation_normalized_percentile":{"value":0.94119502,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"79","issue":"6","first_page":"457","last_page":"466"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9957000017166138,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9954000115394592,"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/control-theory","display_name":"Control theory (sociology)","score":0.7234892249107361},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6759085655212402},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6221120953559875},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.616108775138855},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.5417637825012207},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5343930125236511},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5278655886650085},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.506712019443512},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.48975372314453125},{"id":"https://openalex.org/keywords/internal-model","display_name":"Internal model","score":0.4526687264442444},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.4366588592529297},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4186505079269409},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3675236701965332},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3380005359649658},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22664955258369446},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14647206664085388},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.09253087639808655},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07563087344169617},{"id":"https://openalex.org/keywords/law","display_name":"Law","score":0.06679040193557739},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.064064621925354}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7234892249107361},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6759085655212402},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6221120953559875},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.616108775138855},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.5417637825012207},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5343930125236511},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5278655886650085},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.506712019443512},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.48975372314453125},{"id":"https://openalex.org/C28427503","wikidata":"https://www.wikidata.org/wiki/Q13580300","display_name":"Internal model","level":3,"score":0.4526687264442444},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.4366588592529297},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4186505079269409},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3675236701965332},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3380005359649658},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22664955258369446},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14647206664085388},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.09253087639808655},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07563087344169617},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.06679040193557739},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.064064621925354},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s004220050495","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s004220050495","pdf_url":null,"source":{"id":"https://openalex.org/S87357125","display_name":"Biological Cybernetics","issn_l":"0340-1200","issn":["0340-1200","1432-0770"],"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Biological Cybernetics","raw_type":"journal-article"},{"id":"pmh:oai:pub.librecat.org:1681430","is_oa":false,"landing_page_url":"https://pub.uni-bielefeld.de/record/1681430","pdf_url":null,"source":{"id":"https://openalex.org/S4306401671","display_name":"PUB \u2013 Publications at Bielefeld University (Bielefeld University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I20121455","host_organization_name":"Bielefeld University","host_organization_lineage":["https://openalex.org/I20121455"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Steink\u00fchler U, Cruse H. A holistic model for an internal representation to control the movement of a manipulator with redundant degrees of freedom. <em>Biological Cybernetics</em>. 1998;79(6):457-466.","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8299999833106995}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W42989641","https://openalex.org/W177869588","https://openalex.org/W207238859","https://openalex.org/W2005204693","https://openalex.org/W2035996954","https://openalex.org/W2037472687","https://openalex.org/W2039634967","https://openalex.org/W2060054159","https://openalex.org/W2084965959","https://openalex.org/W2159998327"],"related_works":["https://openalex.org/W4245687327","https://openalex.org/W2072289333","https://openalex.org/W2112549839","https://openalex.org/W4254637135","https://openalex.org/W3136192696","https://openalex.org/W2004793478","https://openalex.org/W2358666156","https://openalex.org/W2391892769","https://openalex.org/W2731862817","https://openalex.org/W2537091977"],"abstract_inverted_index":null,"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}