{"id":"https://openalex.org/W2082938394","doi":"https://doi.org/10.1016/s0893-6080(01)00026-0","title":"Quantitative examinations for multi joint arm trajectory planning\u2014using a robust calculation algorithm of the minimum commanded torque change trajectory","display_name":"Quantitative examinations for multi joint arm trajectory planning\u2014using a robust calculation algorithm of the minimum commanded torque change trajectory","publication_year":2001,"publication_date":"2001-05-01","ids":{"openalex":"https://openalex.org/W2082938394","doi":"https://doi.org/10.1016/s0893-6080(01)00026-0","mag":"2082938394","pmid":"https://pubmed.ncbi.nlm.nih.gov/11411627"},"language":"en","primary_location":{"id":"doi:10.1016/s0893-6080(01)00026-0","is_oa":false,"landing_page_url":"https://doi.org/10.1016/s0893-6080(01)00026-0","pdf_url":null,"source":{"id":"https://openalex.org/S123019304","display_name":"Neural Networks","issn_l":"0893-6080","issn":["0893-6080","1879-2782"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Neural Networks","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5036970055","display_name":"Yasuhiro Wada","orcid":"https://orcid.org/0000-0003-0268-8921"},"institutions":[{"id":"https://openalex.org/I119806805","display_name":"Nagaoka University","ror":"https://ror.org/02rcadd38","country_code":"JP","type":"education","lineage":["https://openalex.org/I119806805"]},{"id":"https://openalex.org/I85922643","display_name":"Nagaoka University of Technology","ror":"https://ror.org/00ys1hz88","country_code":"JP","type":"education","lineage":["https://openalex.org/I85922643"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yasuhiro Wada","raw_affiliation_strings":["Nagaoka University of Technology, Niigata, Japan. ywada@nagaokaut.ac.jp","Nagaoka University of Technology, 1603-1 Kamitomioka, Nagaoka-shi, Niigata, 940-2188, Japan"],"affiliations":[{"raw_affiliation_string":"Nagaoka University of Technology, Niigata, Japan. ywada@nagaokaut.ac.jp","institution_ids":["https://openalex.org/I119806805","https://openalex.org/I85922643"]},{"raw_affiliation_string":"Nagaoka University of Technology, 1603-1 Kamitomioka, Nagaoka-shi, Niigata, 940-2188, Japan","institution_ids":["https://openalex.org/I85922643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109145408","display_name":"Y. Kaneko","orcid":null},"institutions":[{"id":"https://openalex.org/I85922643","display_name":"Nagaoka University of Technology","ror":"https://ror.org/00ys1hz88","country_code":"JP","type":"education","lineage":["https://openalex.org/I85922643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuichi Kaneko","raw_affiliation_strings":["Nagaoka University of Technology, 1603-1 Kamitomioka, Nagaoka-shi, Niigata, 940-2188, Japan"],"affiliations":[{"raw_affiliation_string":"Nagaoka University of Technology, 1603-1 Kamitomioka, Nagaoka-shi, Niigata, 940-2188, Japan","institution_ids":["https://openalex.org/I85922643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037165196","display_name":"Eri Nakano","orcid":"https://orcid.org/0000-0001-8305-1767"},"institutions":[{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Eri Nakano","raw_affiliation_strings":["Advanced Telecommunication Research Laboratories, Kyoto, 619-0288, Japan"],"affiliations":[{"raw_affiliation_string":"Advanced Telecommunication Research Laboratories, Kyoto, 619-0288, Japan","institution_ids":["https://openalex.org/I4210104143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109875065","display_name":"Rieko Osu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rieko Osu","raw_affiliation_strings":["ERATO Dynamic Brain Project, Kyoto, 619-0288, Japan"],"affiliations":[{"raw_affiliation_string":"ERATO Dynamic Brain Project, Kyoto, 619-0288, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028840283","display_name":"Mitsuo Kawato","orcid":"https://orcid.org/0000-0001-8185-1197"},"institutions":[{"id":"https://openalex.org/I4210158934","display_name":"Research Organization of Information and Systems","ror":"https://ror.org/04p4e8t29","country_code":"JP","type":"facility","lineage":["https://openalex.org/I1319490839","https://openalex.org/I4210158934"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitsuo Kawato","raw_affiliation_strings":["ATR Human Information Processing Research Laboratories, Kyoto, 619-0288, Japan","ERATO Dynamic Brain Project, Kyoto, 619-0288, Japan"],"affiliations":[{"raw_affiliation_string":"ATR Human Information Processing Research Laboratories, Kyoto, 619-0288, Japan","institution_ids":["https://openalex.org/I4210158934"]},{"raw_affiliation_string":"ERATO Dynamic Brain Project, Kyoto, 619-0288, Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5036970055"],"corresponding_institution_ids":["https://openalex.org/I119806805","https://openalex.org/I85922643"],"apc_list":{"value":3350,"currency":"USD","value_usd":3350},"apc_paid":null,"fwci":2.128,"has_fulltext":false,"cited_by_count":91,"citation_normalized_percentile":{"value":0.86891958,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"14","issue":"4-5","first_page":"381","last_page":"393"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9945999979972839,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9696000218391418,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7269379496574402},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6834972500801086},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6577211618423462},{"id":"https://openalex.org/keywords/jerk","display_name":"Jerk","score":0.6499091386795044},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6474791765213013},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5579763054847717},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38713130354881287},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11345598101615906},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11308276653289795},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08917048573493958},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.07521632313728333}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7269379496574402},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6834972500801086},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6577211618423462},{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.6499091386795044},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6474791765213013},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5579763054847717},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38713130354881287},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11345598101615906},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11308276653289795},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08917048573493958},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.07521632313728333},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001132","descriptor_name":"Arm","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D001132","descriptor_name":"Arm","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D001132","descriptor_name":"Arm","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007596","descriptor_name":"Joints","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D007596","descriptor_name":"Joints","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D007596","descriptor_name":"Joints","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D019415","descriptor_name":"Torque","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019415","descriptor_name":"Torque","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019415","descriptor_name":"Torque","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":3,"locations":[{"id":"doi:10.1016/s0893-6080(01)00026-0","is_oa":false,"landing_page_url":"https://doi.org/10.1016/s0893-6080(01)00026-0","pdf_url":null,"source":{"id":"https://openalex.org/S123019304","display_name":"Neural Networks","issn_l":"0893-6080","issn":["0893-6080","1879-2782"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Neural Networks","raw_type":"journal-article"},{"id":"pmid:11411627","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/11411627","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Neural networks : the official journal of the International Neural Network Society","raw_type":null},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.23.8605","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.23.8605","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.isd.atr.co.jp/~kawato/Ppdf/NNwada.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7300000190734863,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W177869588","https://openalex.org/W189746178","https://openalex.org/W622370624","https://openalex.org/W626023411","https://openalex.org/W634729016","https://openalex.org/W1873049249","https://openalex.org/W1885639605","https://openalex.org/W2001579813","https://openalex.org/W2029895515","https://openalex.org/W2057545999","https://openalex.org/W2064527819","https://openalex.org/W2077247990","https://openalex.org/W2116005591","https://openalex.org/W2126319939","https://openalex.org/W2155339399","https://openalex.org/W2319345516","https://openalex.org/W2343033567","https://openalex.org/W2494373127","https://openalex.org/W3038165843","https://openalex.org/W3198775178","https://openalex.org/W4235877223","https://openalex.org/W6607299024","https://openalex.org/W6607717936"],"related_works":["https://openalex.org/W2497204748","https://openalex.org/W4281395624","https://openalex.org/W2351684991","https://openalex.org/W1561345858","https://openalex.org/W2539932329","https://openalex.org/W1983113136","https://openalex.org/W2392989031","https://openalex.org/W2085178290","https://openalex.org/W2039317814","https://openalex.org/W2270398823"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":5}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
