{"id":"https://openalex.org/W3017271867","doi":"https://doi.org/10.1080/01691864.2020.1751707","title":"Adaptive virtual power-based collision detection and isolation with link parameter estimation","display_name":"Adaptive virtual power-based collision detection and isolation with link parameter estimation","publication_year":2020,"publication_date":"2020-04-16","ids":{"openalex":"https://openalex.org/W3017271867","doi":"https://doi.org/10.1080/01691864.2020.1751707","mag":"3017271867"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2020.1751707","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2020.1751707","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced 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/A5062672609","display_name":"Zhe Qiu","orcid":"https://orcid.org/0009-0003-3174-8679"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Zhe Qiu","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Shiga, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071322111","display_name":"Ryuta Ozawa","orcid":"https://orcid.org/0000-0002-5605-6316"},"institutions":[{"id":"https://openalex.org/I16656306","display_name":"Meiji University","ror":"https://ror.org/02rqvrp93","country_code":"JP","type":"education","lineage":["https://openalex.org/I16656306"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Ryuta Ozawa","raw_affiliation_strings":["Department of Mechanical Engineering Informatics, Meiji University, Kanagawa, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering Informatics, Meiji University, Kanagawa, Japan","institution_ids":["https://openalex.org/I16656306"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100778162","display_name":"Shugen Ma","orcid":"https://orcid.org/0000-0003-1155-8969"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shugen Ma","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Shiga, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5071322111"],"corresponding_institution_ids":["https://openalex.org/I16656306"],"apc_list":null,"apc_paid":null,"fwci":0.4413,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.60724608,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"34","issue":"12","first_page":"814","last_page":"825"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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/collision","display_name":"Collision","score":0.8199306726455688},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.7217008471488953},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6665067076683044},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.596416175365448},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4990570545196533},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.49431824684143066},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4257645010948181},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3864240050315857},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3517147898674011},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.237966388463974},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07724511623382568}],"concepts":[{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.8199306726455688},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.7217008471488953},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6665067076683044},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.596416175365448},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4990570545196533},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.49431824684143066},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4257645010948181},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3864240050315857},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3517147898674011},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.237966388463974},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07724511623382568},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2020.1751707","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2020.1751707","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6200000047683716}],"awards":[{"id":"https://openalex.org/G6217550439","display_name":null,"funder_award_id":"ImPACT Tough Robotics Challenge Program","funder_id":"https://openalex.org/F4320325854","funder_display_name":"Council for Science, Technology and Innovation"}],"funders":[{"id":"https://openalex.org/F4320325854","display_name":"Council for Science, Technology and Innovation","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1601495401","https://openalex.org/W1666709923","https://openalex.org/W1973767930","https://openalex.org/W1979743043","https://openalex.org/W1986377661","https://openalex.org/W1997650413","https://openalex.org/W2021628292","https://openalex.org/W2034920149","https://openalex.org/W2048248924","https://openalex.org/W2086936442","https://openalex.org/W2093230162","https://openalex.org/W2098365337","https://openalex.org/W2103120971","https://openalex.org/W2110987513","https://openalex.org/W2116966230","https://openalex.org/W2121991065","https://openalex.org/W2125708330","https://openalex.org/W2128722009","https://openalex.org/W2130821661","https://openalex.org/W2130883172","https://openalex.org/W2144907335","https://openalex.org/W2149085596","https://openalex.org/W2159746877","https://openalex.org/W2161086413","https://openalex.org/W2170133847","https://openalex.org/W2188348963","https://openalex.org/W2586678061","https://openalex.org/W2762248135","https://openalex.org/W2890567367","https://openalex.org/W2891148978","https://openalex.org/W2967061115","https://openalex.org/W2967173189","https://openalex.org/W2987575384","https://openalex.org/W4205362845"],"related_works":["https://openalex.org/W2361971697","https://openalex.org/W3138645172","https://openalex.org/W2148917807","https://openalex.org/W3215492696","https://openalex.org/W2257960210","https://openalex.org/W2028510469","https://openalex.org/W913501818","https://openalex.org/W2021628292","https://openalex.org/W4379525781","https://openalex.org/W1987135480"],"abstract_inverted_index":{"We":[0],"propose":[1,55],"an":[2],"adaptive":[3,59,133,147],"virtual":[4,25],"power-based":[5],"collision":[6,83,139,142,158,163],"detection":[7,84,140],"and":[8,27,85,112,127,132,141],"isolation":[9,86,164],"approach":[10],"for":[11,138,157],"robotic":[12],"manipulators":[13],"with":[14],"link":[15,42,64,110,118],"parameter":[16,65,75],"estimation.":[17],"The":[18,30],"power":[19,34,60,134,148],"indexes":[20,35,61,135],"are":[21,136],"obtained":[22],"using":[23,62,87,96],"estimated":[24],"velocities":[26],"contact":[28,94],"forces.":[29],"effectiveness":[31],"of":[32,41,58,82,100,108,119],"the":[33,72,79,88,109,120,130,146,150,161],"is":[36,45],"relied":[37],"on":[38,116],"precise":[39],"knowledge":[40],"parameters,":[43,111],"which":[44],"commonly":[46],"difficult":[47],"to":[48,70,74],"obtain.":[49],"Therefore,":[50],"in":[51,68],"this":[52],"paper,":[53],"we":[54,91],"a":[56,63,97],"series":[57],"estimation":[66],"scheme,":[67],"order":[69],"increase":[71],"robustness":[73],"uncertainties.":[76],"To":[77],"show":[78],"statistical":[80],"performance":[81],"proposed":[89],"approach,":[90],"conduct":[92],"multiple":[93],"tasks":[95],"2":[98],"degree":[99],"freedom":[101],"(DOF)":[102],"experimental":[103],"manipulator":[104,122],"while":[105],"considering":[106],"uncertainties":[107],"most":[113],"collisions":[114],"occurred":[115],"each":[117],"2-DOF":[121],"can":[123,153],"be":[124,154],"correctly":[125],"detected":[126],"isolated.":[128],"Additionally,":[129],"model-based":[131],"compared":[137],"isolation,":[143],"respectively.":[144],"Using":[145],"indexes,":[149],"unique":[151],"threshold":[152],"smoothly":[155],"determined":[156],"detection;":[159],"meanwhile,":[160],"correct":[162],"rate":[165],"increases.":[166]},"counts_by_year":[{"year":2022,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
