{"id":"https://openalex.org/W1965305282","doi":"https://doi.org/10.1007/s10846-008-9240-7","title":"DSP/FPGA-based Controller Architecture for Flexible Joint Robot with Enhanced Impedance Performance","display_name":"DSP/FPGA-based Controller Architecture for Flexible Joint Robot with Enhanced Impedance Performance","publication_year":2008,"publication_date":"2008-05-23","ids":{"openalex":"https://openalex.org/W1965305282","doi":"https://doi.org/10.1007/s10846-008-9240-7","mag":"1965305282"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-008-9240-7","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-008-9240-7","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"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":"Journal of Intelligent and Robotic Systems","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/A5111109528","display_name":"J. B. Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"J. B. Huang","raw_affiliation_strings":["Institute of Robotics, Harbin Institute of Technology, 150001, Harbin, People\u2019s Republic of China","Institute of Robotics, Harbin Institute of Technology, Harbin, People's Republic of China 150001#TAB#"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics, Harbin Institute of Technology, 150001, Harbin, People\u2019s Republic of China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Institute of Robotics, Harbin Institute of Technology, Harbin, People's Republic of China 150001#TAB#","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006416939","display_name":"Zongwu Xie","orcid":"https://orcid.org/0000-0003-4450-8730"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Z. W. Xie","raw_affiliation_strings":["Institute of Robotics, Harbin Institute of Technology, 150001, Harbin, People\u2019s Republic of China","Institute of Robotics, Harbin Institute of Technology, Harbin, People's Republic of China 150001#TAB#"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics, Harbin Institute of Technology, 150001, Harbin, People\u2019s Republic of China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Institute of Robotics, Harbin Institute of Technology, Harbin, People's Republic of China 150001#TAB#","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077144125","display_name":"Haoliang Liu","orcid":"https://orcid.org/0000-0002-1606-1858"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["CN","DE"],"is_corresponding":false,"raw_author_name":"H. Liu","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen, Germany","Institute of Robotics, Harbin Institute of Technology, 150001, Harbin, People\u2019s Republic of China","Institute of Robotics, Harbin Institute of Technology, Harbin, People's Republic of China 150001 and Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen, German "],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics, Harbin Institute of Technology, 150001, Harbin, People\u2019s Republic of China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Institute of Robotics, Harbin Institute of Technology, Harbin, People's Republic of China 150001 and Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen, German ","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101734197","display_name":"Kui Sun","orcid":"https://orcid.org/0000-0002-4366-0557"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"K. Sun","raw_affiliation_strings":["Institute of Robotics, Harbin Institute of Technology, 150001, Harbin, People\u2019s Republic of China","Institute of Robotics, Harbin Institute of Technology, Harbin, People's Republic of China 150001#TAB#"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics, Harbin Institute of Technology, 150001, Harbin, People\u2019s Republic of China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Institute of Robotics, Harbin Institute of Technology, Harbin, People's Republic of China 150001#TAB#","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050093682","display_name":"Yuqi Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Y. C. Liu","raw_affiliation_strings":["Institute of Robotics, Harbin Institute of Technology, 150001, Harbin, People\u2019s Republic of China","Institute of Robotics, Harbin Institute of Technology, Harbin, People's Republic of China 150001#TAB#"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics, Harbin Institute of Technology, 150001, Harbin, People\u2019s Republic of China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Institute of Robotics, Harbin Institute of Technology, Harbin, People's Republic of China 150001#TAB#","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108054659","display_name":"Zainan Jiang","orcid":"https://orcid.org/0000-0001-5640-7190"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Z. N. Jiang","raw_affiliation_strings":["Institute of Robotics, Harbin Institute of Technology, 150001, Harbin, People\u2019s Republic of China","Institute of Robotics, Harbin Institute of Technology, Harbin, People's Republic of China 150001#TAB#"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics, Harbin Institute of Technology, 150001, Harbin, People\u2019s Republic of China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Institute of Robotics, Harbin Institute of Technology, Harbin, People's Republic of China 150001#TAB#","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5111109528"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":8.3031,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.97044737,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"53","issue":"3","first_page":"247","last_page":"261"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9962000250816345,"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":0.9954000115394592,"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/field-programmable-gate-array","display_name":"Field-programmable gate array","score":0.5986453890800476},{"id":"https://openalex.org/keywords/digital-signal-processing","display_name":"Digital signal processing","score":0.5189313888549805},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5032636523246765},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.49075111746788025},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.4074402451515198},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37655147910118103},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.35707345604896545},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35181915760040283},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.34681540727615356},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.2675776481628418},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.15790343284606934},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07939073443412781}],"concepts":[{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.5986453890800476},{"id":"https://openalex.org/C84462506","wikidata":"https://www.wikidata.org/wiki/Q173142","display_name":"Digital signal processing","level":2,"score":0.5189313888549805},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5032636523246765},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.49075111746788025},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.4074402451515198},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37655147910118103},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.35707345604896545},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35181915760040283},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.34681540727615356},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.2675776481628418},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.15790343284606934},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07939073443412781},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-008-9240-7","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-008-9240-7","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"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":"Journal of Intelligent and Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6299999952316284,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1487795270","https://openalex.org/W1570496771","https://openalex.org/W1576410889","https://openalex.org/W1583711410","https://openalex.org/W1967377907","https://openalex.org/W1995090200","https://openalex.org/W2009178724","https://openalex.org/W2111237451","https://openalex.org/W2112474089","https://openalex.org/W2137254020","https://openalex.org/W2147536588","https://openalex.org/W2150783677","https://openalex.org/W2155829031"],"related_works":["https://openalex.org/W1876592433","https://openalex.org/W2083269738","https://openalex.org/W2096844293","https://openalex.org/W2363944576","https://openalex.org/W2351041855","https://openalex.org/W2570254841","https://openalex.org/W2147481850","https://openalex.org/W2387078853","https://openalex.org/W2374455716","https://openalex.org/W2363990172"],"abstract_inverted_index":null,"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}