{"id":"https://openalex.org/W2052975665","doi":"https://doi.org/10.1017/s0263574713000015","title":"Bio-inspired backlash reduction of a low-cost robotic joint using closed-loop-commutated stepper motors","display_name":"Bio-inspired backlash reduction of a low-cost robotic joint using closed-loop-commutated stepper motors","publication_year":2013,"publication_date":"2013-02-08","ids":{"openalex":"https://openalex.org/W2052975665","doi":"https://doi.org/10.1017/s0263574713000015","mag":"2052975665"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574713000015","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574713000015","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/A5017621595","display_name":"J\u00f3zsef Veres","orcid":null},"institutions":[{"id":"https://openalex.org/I31882830","display_name":"P\u00e1zm\u00e1ny P\u00e9ter Catholic University","ror":"https://ror.org/05v9kya57","country_code":"HU","type":"education","lineage":["https://openalex.org/I31882830"]}],"countries":["HU"],"is_corresponding":true,"raw_author_name":"J\u00f3zsef Veres","raw_affiliation_strings":["Pr\u00e1ter utca 50/a, Budapest H-1083, Hungary","Pazmany Peter Catholic University;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Pr\u00e1ter utca 50/a, Budapest H-1083, Hungary","institution_ids":[]},{"raw_affiliation_string":"Pazmany Peter Catholic University;","institution_ids":["https://openalex.org/I31882830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071446072","display_name":"Gy\u00f6rgy Cserey","orcid":"https://orcid.org/0000-0002-6836-1502"},"institutions":[{"id":"https://openalex.org/I31882830","display_name":"P\u00e1zm\u00e1ny P\u00e9ter Catholic University","ror":"https://ror.org/05v9kya57","country_code":"HU","type":"education","lineage":["https://openalex.org/I31882830"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Gy\u00f6rgy Cserey","raw_affiliation_strings":["Pr\u00e1ter utca 50/a, Budapest H-1083, Hungary","Pazmany Peter Catholic University;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Pr\u00e1ter utca 50/a, Budapest H-1083, Hungary","institution_ids":[]},{"raw_affiliation_string":"Pazmany Peter Catholic University;","institution_ids":["https://openalex.org/I31882830"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048317569","display_name":"G\u00e1bor Szederk\u00e9nyi","orcid":"https://orcid.org/0000-0003-4199-6089"},"institutions":[{"id":"https://openalex.org/I31882830","display_name":"P\u00e1zm\u00e1ny P\u00e9ter Catholic University","ror":"https://ror.org/05v9kya57","country_code":"HU","type":"education","lineage":["https://openalex.org/I31882830"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"G\u00e1bor Szederk\u00e9nyi","raw_affiliation_strings":["P.O. Box 63, Budapest, H-1518, Hungary","Pazmany Peter Catholic University;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"P.O. Box 63, Budapest, H-1518, Hungary","institution_ids":[]},{"raw_affiliation_string":"Pazmany Peter Catholic University;","institution_ids":["https://openalex.org/I31882830"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5017621595"],"corresponding_institution_ids":["https://openalex.org/I31882830"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.15847418,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"31","issue":"5","first_page":"789","last_page":"796"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.984499990940094,"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"}},"topics":[{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.984499990940094,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9427000284194946,"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/backlash","display_name":"Backlash","score":0.9394538402557373},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6949563026428223},{"id":"https://openalex.org/keywords/stepper","display_name":"Stepper","score":0.6810721158981323},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6692134737968445},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.553486168384552},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.512160062789917},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.49784207344055176},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.476098895072937},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.435815691947937},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42879578471183777},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21920153498649597},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1995299756526947},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08145835995674133}],"concepts":[{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.9394538402557373},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6949563026428223},{"id":"https://openalex.org/C187504802","wikidata":"https://www.wikidata.org/wiki/Q1751548","display_name":"Stepper","level":2,"score":0.6810721158981323},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6692134737968445},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.553486168384552},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.512160062789917},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.49784207344055176},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.476098895072937},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.435815691947937},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42879578471183777},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21920153498649597},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1995299756526947},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08145835995674133},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574713000015","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574713000015","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"},{"id":"pmh:oai:eprints.sztaki.hu:7310","is_oa":false,"landing_page_url":"http://eprints.sztaki.hu/7310/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401907","display_name":"SZTAKI Publication Repository (Hungarian Academy of Sciences)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I7597260","host_organization_name":"Hungarian Academy of Sciences","host_organization_lineage":["https://openalex.org/I7597260"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ISI Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7799999713897705,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W647959844","https://openalex.org/W1517285283","https://openalex.org/W1538596214","https://openalex.org/W1602682879","https://openalex.org/W1979287426","https://openalex.org/W1995644665","https://openalex.org/W1996684872","https://openalex.org/W2001446004","https://openalex.org/W2003884760","https://openalex.org/W2007677407","https://openalex.org/W2022451681","https://openalex.org/W2042198638","https://openalex.org/W2086620849","https://openalex.org/W2096293179","https://openalex.org/W2100016333","https://openalex.org/W2102778746","https://openalex.org/W2105797335","https://openalex.org/W2116336719","https://openalex.org/W2120547949","https://openalex.org/W2123425499","https://openalex.org/W2137481346","https://openalex.org/W2137895022","https://openalex.org/W2138954565","https://openalex.org/W2144353405","https://openalex.org/W2150411742","https://openalex.org/W2155611571","https://openalex.org/W2165678421","https://openalex.org/W2166588043","https://openalex.org/W2168046672","https://openalex.org/W2170090733","https://openalex.org/W2172143357","https://openalex.org/W2242762566","https://openalex.org/W2301631610","https://openalex.org/W2487980242","https://openalex.org/W2520699119","https://openalex.org/W2625371243","https://openalex.org/W2978219678","https://openalex.org/W3217452984","https://openalex.org/W4251054672","https://openalex.org/W4318425176","https://openalex.org/W6649827373","https://openalex.org/W6697282769","https://openalex.org/W6804926114"],"related_works":["https://openalex.org/W2318553114","https://openalex.org/W45990023","https://openalex.org/W2369073421","https://openalex.org/W2066639517","https://openalex.org/W2967708117","https://openalex.org/W2242762566","https://openalex.org/W2370149162","https://openalex.org/W2953861963","https://openalex.org/W2154548569","https://openalex.org/W1551453979"],"abstract_inverted_index":{"SUMMARY":[0],"The":[1,124,168],"majority":[2,101],"of":[3,37,66,74,84,93,102,170],"current":[4],"robotic":[5,76],"joints":[6],"are":[7,54,161],"primarily":[8],"actuated":[9],"by":[10,119],"rotational":[11],"mechanisms.":[12],"These":[13,52],"electrical":[14],"drives":[15,94],"have":[16],"substantially":[17],"different":[18],"features":[19,22],"than":[20],"the":[21,35,63,67,72,100,120,135,149,171],"found":[23],"in":[24,50,62,71,99,106,148,163,177],"human":[25,121],"muscular":[26],"systems.":[27],"This":[28],"paper":[29,108],"presents":[30],"a":[31,38,75,81,109,164,178],"cost-effective":[32],"solution":[33,113],"to":[34,41,127,134,142],"backlash":[36],"phenomenon":[39],"known":[40],"cause":[42],"positioning":[43],"errors":[44,53],"and":[45,137,187],"other":[46],"undesirable":[47],"dynamic":[48],"effects":[49],"drives.":[51],"particularly":[55],"pronounced":[56],"when":[57],"relatively":[58],"major":[59],"changes":[60],"appear":[61],"pre-load":[64],"conditions":[65],"motor":[68],"such":[69],"as":[70,158],"case":[73],"leg":[77],"or":[78],"arm":[79],"with":[80,189],"high":[82],"degree":[83],"freedom.":[85],"Current":[86],"solutions":[87],"require":[88],"an":[89,129],"accurate":[90],"time-varying":[91],"model":[92],"that":[95,160],"is":[96,114,117,126],"not":[97],"available":[98],"practical":[103],"cases.":[104],"Therefore,":[105],"this":[107],"digitally":[110,165],"controlled":[111,172],"mechanical":[112],"proposed":[115],"which":[116],"inspired":[118],"flexor\u2013extensor":[122],"mechanism.":[123],"idea":[125],"construct":[128],"antagonistic":[130],"actuator":[131],"pair":[132],"analogous":[133],"flexor":[136],"extensor":[138],"muscles.":[139],"In":[140],"order":[141],"obtain":[143],"good":[144,185],"control":[145],"performance":[146],"even":[147],"low-speed":[150],"range,":[151],"permanent":[152],"magnet":[153],"stepper":[154],"motors":[155],"were":[156],"chosen":[157],"actuators":[159],"commutated":[162],"closed-loop":[166],"fashion.":[167],"operation":[169],"structure":[173],"has":[174],"been":[175],"verified":[176],"real":[179],"experimental":[180],"environment":[181],"where":[182],"measurements":[183],"showed":[184],"results":[186],"match":[188],"previous":[190],"simulations.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}