{"id":"https://openalex.org/W2085286832","doi":"https://doi.org/10.1007/s00500-002-0257-8","title":"Control of underactuated robot manipulators using switching computed torque method: GA based approach","display_name":"Control of underactuated robot manipulators using switching computed torque method: GA based approach","publication_year":2003,"publication_date":"2003-10-01","ids":{"openalex":"https://openalex.org/W2085286832","doi":"https://doi.org/10.1007/s00500-002-0257-8","mag":"2085286832"},"language":"en","primary_location":{"id":"doi:10.1007/s00500-002-0257-8","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s00500-002-0257-8","pdf_url":null,"source":{"id":"https://openalex.org/S65753830","display_name":"Soft Computing","issn_l":"1432-7643","issn":["1432-7643","1433-7479"],"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":"Soft Computing - A Fusion of Foundations, Methodologies and Applications","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/A5017930818","display_name":"Lanka Udawatta","orcid":"https://orcid.org/0000-0002-4839-3259"},"institutions":[{"id":"https://openalex.org/I177136067","display_name":"Saga University","ror":"https://ror.org/04f4wg107","country_code":"JP","type":"education","lineage":["https://openalex.org/I177136067"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"L. Udawatta","raw_affiliation_strings":["Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering Saga University, 1 Honjomachi, Saga, 840-8502, Japan","Department of Advanced Systems Control Engineering Graduate School of Science and Engineering, Saga University, Saga, Japan 840-8502#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering Saga University, 1 Honjomachi, Saga, 840-8502, Japan","institution_ids":["https://openalex.org/I177136067"]},{"raw_affiliation_string":"Department of Advanced Systems Control Engineering Graduate School of Science and Engineering, Saga University, Saga, Japan 840-8502#TAB#","institution_ids":["https://openalex.org/I177136067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111518950","display_name":"Keigo Watanabe","orcid":null},"institutions":[{"id":"https://openalex.org/I177136067","display_name":"Saga University","ror":"https://ror.org/04f4wg107","country_code":"JP","type":"education","lineage":["https://openalex.org/I177136067"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"K. Watanabe","raw_affiliation_strings":["Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering Saga University, 1 Honjomachi, Saga, 840-8502, Japan","Department of Advanced Systems Control Engineering Graduate School of Science and Engineering, Saga University, Saga, Japan 840-8502#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering Saga University, 1 Honjomachi, Saga, 840-8502, Japan","institution_ids":["https://openalex.org/I177136067"]},{"raw_affiliation_string":"Department of Advanced Systems Control Engineering Graduate School of Science and Engineering, Saga University, Saga, Japan 840-8502#TAB#","institution_ids":["https://openalex.org/I177136067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011667213","display_name":"Keisuke Izumi","orcid":"https://orcid.org/0000-0001-8597-0759"},"institutions":[{"id":"https://openalex.org/I177136067","display_name":"Saga University","ror":"https://ror.org/04f4wg107","country_code":"JP","type":"education","lineage":["https://openalex.org/I177136067"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Izumi","raw_affiliation_strings":["Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering Saga University, 1 Honjomachi, Saga, 840-8502, Japan","Department of Advanced Systems Control Engineering Graduate School of Science and Engineering, Saga University, Saga, Japan 840-8502#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering Saga University, 1 Honjomachi, Saga, 840-8502, Japan","institution_ids":["https://openalex.org/I177136067"]},{"raw_affiliation_string":"Department of Advanced Systems Control Engineering Graduate School of Science and Engineering, Saga University, Saga, Japan 840-8502#TAB#","institution_ids":["https://openalex.org/I177136067"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058003031","display_name":"Kazuo Kiguchi","orcid":"https://orcid.org/0000-0003-4408-0420"},"institutions":[{"id":"https://openalex.org/I177136067","display_name":"Saga University","ror":"https://ror.org/04f4wg107","country_code":"JP","type":"education","lineage":["https://openalex.org/I177136067"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Kiguchi","raw_affiliation_strings":["Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering Saga University, 1 Honjomachi, Saga, 840-8502, Japan","Department of Advanced Systems Control Engineering Graduate School of Science and Engineering, Saga University, Saga, Japan 840-8502#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering Saga University, 1 Honjomachi, Saga, 840-8502, Japan","institution_ids":["https://openalex.org/I177136067"]},{"raw_affiliation_string":"Department of Advanced Systems Control Engineering Graduate School of Science and Engineering, Saga University, Saga, Japan 840-8502#TAB#","institution_ids":["https://openalex.org/I177136067"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5111518950"],"corresponding_institution_ids":["https://openalex.org/I177136067"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":null,"fwci":6.0406,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.95284649,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"8","issue":"1","first_page":"51","last_page":"60"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","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/T11615","display_name":"Control and Dynamics of Mobile Robots","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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994000196456909,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.9236575365066528},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8058262467384338},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6314979791641235},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5705748200416565},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5703668594360352},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5553283095359802},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4392082095146179},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.269095778465271},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2576284408569336},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22208908200263977}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.9236575365066528},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8058262467384338},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6314979791641235},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5705748200416565},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5703668594360352},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5553283095359802},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4392082095146179},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.269095778465271},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2576284408569336},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22208908200263977},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s00500-002-0257-8","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s00500-002-0257-8","pdf_url":null,"source":{"id":"https://openalex.org/S65753830","display_name":"Soft Computing","issn_l":"1432-7643","issn":["1432-7643","1433-7479"],"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":"Soft Computing - A Fusion of Foundations, Methodologies and Applications","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1619551699","https://openalex.org/W1963602557","https://openalex.org/W2001600801","https://openalex.org/W2062691475","https://openalex.org/W2095925063","https://openalex.org/W2099022511","https://openalex.org/W2109340344","https://openalex.org/W2120944681","https://openalex.org/W2122925582","https://openalex.org/W2160107618","https://openalex.org/W2161401171","https://openalex.org/W2163023076","https://openalex.org/W2168164612","https://openalex.org/W2215731883","https://openalex.org/W2545778534","https://openalex.org/W2616018522","https://openalex.org/W2914550350"],"related_works":["https://openalex.org/W1500548051","https://openalex.org/W1964445172","https://openalex.org/W2143434737","https://openalex.org/W4288699707","https://openalex.org/W1616764176","https://openalex.org/W2106430162","https://openalex.org/W3192682733","https://openalex.org/W2163237072","https://openalex.org/W2081318062","https://openalex.org/W2619603563"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}