{"id":"https://openalex.org/W1991497449","doi":"https://doi.org/10.1007/s11370-015-0165-2","title":"Task space control considering passive muscle stiffness for redundant robotic arms","display_name":"Task space control considering passive muscle stiffness for redundant robotic arms","publication_year":2015,"publication_date":"2015-01-19","ids":{"openalex":"https://openalex.org/W1991497449","doi":"https://doi.org/10.1007/s11370-015-0165-2","mag":"1991497449"},"language":"en","primary_location":{"id":"doi:10.1007/s11370-015-0165-2","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s11370-015-0165-2","pdf_url":null,"source":{"id":"https://openalex.org/S145649206","display_name":"Intelligent Service Robotics","issn_l":"1861-2776","issn":["1861-2776","1861-2784"],"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":"Intelligent Service Robotics","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/A5062995411","display_name":"Ji\u2010Hun Bae","orcid":"https://orcid.org/0000-0002-7859-3091"},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ji-Hun Bae","raw_affiliation_strings":["Robotics R&BD Group, Korea Institute of Industrial Technology, Ansan R&D Center, 1271-18, Sa-3dong, Sangrok-gu, Ansan, 426-791, Korea","Robotics R&BD Group, Korea Institute of Industrial Technology, Ansan, Korea 426-791#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics R&BD Group, Korea Institute of Industrial Technology, Ansan R&D Center, 1271-18, Sa-3dong, Sangrok-gu, Ansan, 426-791, Korea","institution_ids":["https://openalex.org/I89004649"]},{"raw_affiliation_string":"Robotics R&BD Group, Korea Institute of Industrial Technology, Ansan, Korea 426-791#TAB#","institution_ids":["https://openalex.org/I89004649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068836418","display_name":"Jae\u2010Han Park","orcid":"https://orcid.org/0000-0001-5837-3131"},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jae-Han Park","raw_affiliation_strings":["Robotics R&BD Group, Korea Institute of Industrial Technology, Ansan R&D Center, 1271-18, Sa-3dong, Sangrok-gu, Ansan, 426-791, Korea","Robotics R&BD Group, Korea Institute of Industrial Technology, Ansan, Korea 426-791#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics R&BD Group, Korea Institute of Industrial Technology, Ansan R&D Center, 1271-18, Sa-3dong, Sangrok-gu, Ansan, 426-791, Korea","institution_ids":["https://openalex.org/I89004649"]},{"raw_affiliation_string":"Robotics R&BD Group, Korea Institute of Industrial Technology, Ansan, Korea 426-791#TAB#","institution_ids":["https://openalex.org/I89004649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101939813","display_name":"Yonghwan Oh","orcid":"https://orcid.org/0000-0002-1109-305X"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yonghwan Oh","raw_affiliation_strings":["The Interaction and Robotics Research Center, Korea Institute of Science and Technology, Hwarangro 14-gil 5, Seongbuk-gu, Seoul, 130-650, Korea","The Interaction and Robotics Research Center, Korea Institute of Science and Technology, Seoul, Korea 130-650#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Interaction and Robotics Research Center, Korea Institute of Science and Technology, Hwarangro 14-gil 5, Seongbuk-gu, Seoul, 130-650, Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"The Interaction and Robotics Research Center, Korea Institute of Science and Technology, Seoul, Korea 130-650#TAB#","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066664420","display_name":"Doik Kim","orcid":"https://orcid.org/0000-0002-6921-0079"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Doik Kim","raw_affiliation_strings":["The Interaction and Robotics Research Center, Korea Institute of Science and Technology, Hwarangro 14-gil 5, Seongbuk-gu, Seoul, 130-650, Korea","The Interaction and Robotics Research Center, Korea Institute of Science and Technology, Seoul, Korea 130-650#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Interaction and Robotics Research Center, Korea Institute of Science and Technology, Hwarangro 14-gil 5, Seongbuk-gu, Seoul, 130-650, Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"The Interaction and Robotics Research Center, Korea Institute of Science and Technology, Seoul, Korea 130-650#TAB#","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064000503","display_name":"Youngjin Choi","orcid":"https://orcid.org/0000-0002-5009-9059"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Youngjin Choi","raw_affiliation_strings":["The Department of Electronic Systems Engineering, Hanyang University, Sa-1dong, Ansan, 426-791, Korea","The Department of Electronic Systems Engineering, Hanyang University, Ansan, Korea 426-791#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Department of Electronic Systems Engineering, Hanyang University, Sa-1dong, Ansan, 426-791, Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"The Department of Electronic Systems Engineering, Hanyang University, Ansan, Korea 426-791#TAB#","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052714447","display_name":"Woosung Yang","orcid":"https://orcid.org/0000-0002-0983-3012"},"institutions":[{"id":"https://openalex.org/I161024014","display_name":"Kwangwoon University","ror":"https://ror.org/02e9zc863","country_code":"KR","type":"education","lineage":["https://openalex.org/I161024014"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Woosung Yang","raw_affiliation_strings":["The School of Robotics, Kwangwoon University, 447-1, Wolgye-dong, Nowon-gu, Seoul, 139-701, Korea","The School of Robotics, Kwangwoon University, Seoul, Korea 139-701#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The School of Robotics, Kwangwoon University, 447-1, Wolgye-dong, Nowon-gu, Seoul, 139-701, Korea","institution_ids":["https://openalex.org/I161024014"]},{"raw_affiliation_string":"The School of Robotics, Kwangwoon University, Seoul, Korea 139-701#TAB#","institution_ids":["https://openalex.org/I161024014"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5052714447"],"corresponding_institution_ids":["https://openalex.org/I161024014"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":2.0449,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.87850895,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"8","issue":"2","first_page":"93","last_page":"104"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9988999962806702,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9980999827384949,"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/computer-science","display_name":"Computer science","score":0.757227897644043},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6352878212928772},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5925197005271912},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5106397271156311},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5040280222892761},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4879607558250427},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4706888496875763},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.46556949615478516},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.45870646834373474},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4237833321094513},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3756293058395386},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32467415928840637},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2811501622200012},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09369689226150513},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08146855235099792}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.757227897644043},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6352878212928772},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5925197005271912},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5106397271156311},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5040280222892761},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4879607558250427},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4706888496875763},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.46556949615478516},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.45870646834373474},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4237833321094513},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3756293058395386},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32467415928840637},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2811501622200012},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09369689226150513},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08146855235099792},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s11370-015-0165-2","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s11370-015-0165-2","pdf_url":null,"source":{"id":"https://openalex.org/S145649206","display_name":"Intelligent Service Robotics","issn_l":"1861-2776","issn":["1861-2776","1861-2784"],"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":"Intelligent Service Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8700000047683716}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1510918013","https://openalex.org/W1559907429","https://openalex.org/W1855389698","https://openalex.org/W1971482040","https://openalex.org/W1975277581","https://openalex.org/W1975955978","https://openalex.org/W1986152369","https://openalex.org/W1988946454","https://openalex.org/W1991541857","https://openalex.org/W2008829122","https://openalex.org/W2015003349","https://openalex.org/W2040913684","https://openalex.org/W2042803738","https://openalex.org/W2042913147","https://openalex.org/W2046059280","https://openalex.org/W2049410986","https://openalex.org/W2049617391","https://openalex.org/W2074473812","https://openalex.org/W2097152358","https://openalex.org/W2100476631","https://openalex.org/W2100790457","https://openalex.org/W2106682900","https://openalex.org/W2110333200","https://openalex.org/W2112474089","https://openalex.org/W2114872772","https://openalex.org/W2125150316","https://openalex.org/W2135100989","https://openalex.org/W2158326947","https://openalex.org/W2326768627","https://openalex.org/W2536222036","https://openalex.org/W2997798509","https://openalex.org/W3088063282","https://openalex.org/W4235914009"],"related_works":["https://openalex.org/W2352472571","https://openalex.org/W1508899372","https://openalex.org/W1020620338","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W4240485100","https://openalex.org/W2056130799","https://openalex.org/W1495042958","https://openalex.org/W2045758229","https://openalex.org/W3131373009"],"abstract_inverted_index":null,"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":3}],"updated_date":"2026-06-19T15:47:20.252518","created_date":"2025-10-10T00:00:00"}
