{"id":"https://openalex.org/W2133391116","doi":"https://doi.org/10.1017/s0263574710000391","title":"The relationship between controlled joint torque and end-effector force in underactuated robotic systems","display_name":"The relationship between controlled joint torque and end-effector force in underactuated robotic systems","publication_year":2010,"publication_date":"2010-08-16","ids":{"openalex":"https://openalex.org/W2133391116","doi":"https://doi.org/10.1017/s0263574710000391","mag":"2133391116"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574710000391","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574710000391","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5031070386","display_name":"Jaeheung Park","orcid":"https://orcid.org/0000-0002-5062-8264"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jaeheung Park","raw_affiliation_strings":["Seoul National University, 864-1 Iui-dong, Yeongtong-gu, Suwon-si, Gyeonggi-do, Korea","Seoul national university, 864-1 iui-dong, yeongtong-gu, suwon-si, gyeonggi-do, korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University, 864-1 Iui-dong, Yeongtong-gu, Suwon-si, Gyeonggi-do, Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Seoul national university, 864-1 iui-dong, yeongtong-gu, suwon-si, gyeonggi-do, korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5031070386"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":8.6767,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.97999557,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"29","issue":"4","first_page":"581","last_page":"584"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11701","display_name":"Space Satellite Systems and Control","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9804999828338623,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9749000072479248,"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/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.948875904083252},{"id":"https://openalex.org/keywords/transpose","display_name":"Transpose","score":0.8892168998718262},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6962651610374451},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6228713989257812},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6224324107170105},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6064925193786621},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.49304816126823425},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4150618314743042},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.39425790309906006},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.33230048418045044},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1604413092136383},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13797464966773987},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.135471373796463},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.07608255743980408}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.948875904083252},{"id":"https://openalex.org/C200106649","wikidata":"https://www.wikidata.org/wiki/Q223683","display_name":"Transpose","level":3,"score":0.8892168998718262},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6962651610374451},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6228713989257812},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6224324107170105},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6064925193786621},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.49304816126823425},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4150618314743042},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.39425790309906006},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33230048418045044},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1604413092136383},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13797464966773987},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.135471373796463},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.07608255743980408},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574710000391","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574710000391","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1568323885","https://openalex.org/W2099442362","https://openalex.org/W2105229687","https://openalex.org/W2112474089","https://openalex.org/W2119088038","https://openalex.org/W2119968060","https://openalex.org/W2140403608","https://openalex.org/W2160107618","https://openalex.org/W4252126565"],"related_works":["https://openalex.org/W2138005461","https://openalex.org/W2003552630","https://openalex.org/W2000457153","https://openalex.org/W2133391116","https://openalex.org/W2133460271","https://openalex.org/W2023944698","https://openalex.org/W2143434737","https://openalex.org/W806601268","https://openalex.org/W4247022567","https://openalex.org/W1973961748"],"abstract_inverted_index":{"SUMMARY":[0],"The":[1],"generalized":[2,116],"Jacobian":[3,21,27,49,92,117,120],"matrix":[4],"was":[5],"introduced":[6],"for":[7,60],"dealing":[8],"with":[9],"end-effector":[10,35,54,108],"control":[11,29,122],"in":[12,26,118],"space":[13],"robots.":[14,66],"One":[15],"of":[16,19,47,113],"the":[17,45,75,83,89,100,106,111,115,119],"applications":[18],"this":[20,48],"is":[22,86,103,123],"to":[23,30,43,56,98],"be":[24,40],"used":[25],"transpose":[28,46,121],"generate":[31],"joint":[32,58],"torques":[33,59,102],"given":[34,105],"position":[36],"error.":[37],"It":[38],"would":[39],"misleading,":[41],"however,":[42],"consider":[44],"as":[50],"a":[51,79,96],"mapping":[52,76,85],"from":[53],"force/moment":[55],"controlled":[57],"underactuated":[61],"systems":[62],"or":[63],"floating":[64],"base":[65],"This":[67],"paper":[68],"explains":[69],"why":[70],"it":[71],"does":[72],"not":[73],"represent":[74],"and":[77,94],"provides":[78],"simple":[80],"example.":[81],"Later,":[82],"correct":[84],"provided":[87],"using":[88,114],"dynamically":[90],"consistent":[91],"inverse":[93],"then":[95],"method":[97],"compute":[99],"actuated-joint":[101],"explained":[104],"desired":[107],"force.":[109],"Finally,":[110],"effect":[112],"analyzed.":[124]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}