{"id":"https://openalex.org/W2091539022","doi":"https://doi.org/10.1080/10798587.1999.10750751","title":"Hydraulic Manipulator Design, Analysis, and Control at Oak Ridge National Laboratory","display_name":"Hydraulic Manipulator Design, Analysis, and Control at Oak Ridge National Laboratory","publication_year":1999,"publication_date":"1999-01-01","ids":{"openalex":"https://openalex.org/W2091539022","doi":"https://doi.org/10.1080/10798587.1999.10750751","mag":"2091539022"},"language":"en","primary_location":{"id":"doi:10.1080/10798587.1999.10750751","is_oa":false,"landing_page_url":"https://doi.org/10.1080/10798587.1999.10750751","pdf_url":null,"source":{"id":"https://openalex.org/S40639465","display_name":"Intelligent Automation & Soft Computing","issn_l":"1079-8587","issn":["1079-8587","2326-005X"],"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":"Intelligent Automation & Soft Computing","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/A5050062951","display_name":"R.L. Kress","orcid":"https://orcid.org/0000-0002-4431-0401"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"R. L. Kress","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109230417","display_name":"J.F. Jansen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"J. F. Jansen","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5027533975","display_name":"Lonnie Love","orcid":"https://orcid.org/0000-0002-5934-7135"},"institutions":[{"id":"https://openalex.org/I1289243028","display_name":"Oak Ridge National Laboratory","ror":"https://ror.org/01qz5mb56","country_code":"US","type":"facility","lineage":["https://openalex.org/I1289243028","https://openalex.org/I1330989302","https://openalex.org/I39565521","https://openalex.org/I4210159294"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"L. J. Love","raw_affiliation_strings":["Automation Actuator Division Wadsworth, OH 44281 ","Oak Ridge National Laboratory t Robotics","Oak Ridge National Laboratory Robotics and Process Systems Division","Oak Ridge National Laboratory Robotics and Process Systems","oak Ridge National Laboratory Robotics and Process Systems Division"],"affiliations":[{"raw_affiliation_string":"Automation Actuator Division Wadsworth, OH 44281 ","institution_ids":[]},{"raw_affiliation_string":"Oak Ridge National Laboratory t Robotics","institution_ids":[]},{"raw_affiliation_string":"Oak Ridge National Laboratory Robotics and Process Systems Division","institution_ids":["https://openalex.org/I1289243028"]},{"raw_affiliation_string":"Oak Ridge National Laboratory Robotics and Process Systems","institution_ids":["https://openalex.org/I1289243028"]},{"raw_affiliation_string":"oak Ridge National Laboratory Robotics and Process Systems Division","institution_ids":["https://openalex.org/I1289243028"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5050062951"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.25556272,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"5","issue":"1","first_page":"57","last_page":"71"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9991999864578247,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9991999864578247,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9954000115394592,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9901999831199646,"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/computer-science","display_name":"Computer science","score":0.875333309173584},{"id":"https://openalex.org/keywords/oak-ridge-national-laboratory","display_name":"Oak Ridge National Laboratory","score":0.8271687030792236},{"id":"https://openalex.org/keywords/ridge","display_name":"Ridge","score":0.5891781449317932},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.525571882724762},{"id":"https://openalex.org/keywords/java","display_name":"Java","score":0.4691055417060852},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44619375467300415},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17148125171661377},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1659807562828064},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.11580818891525269},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.09399446845054626}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.875333309173584},{"id":"https://openalex.org/C2775907726","wikidata":"https://www.wikidata.org/wiki/Q714439","display_name":"Oak Ridge National Laboratory","level":2,"score":0.8271687030792236},{"id":"https://openalex.org/C32277403","wikidata":"https://www.wikidata.org/wiki/Q740445","display_name":"Ridge","level":2,"score":0.5891781449317932},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.525571882724762},{"id":"https://openalex.org/C548217200","wikidata":"https://www.wikidata.org/wiki/Q251","display_name":"Java","level":2,"score":0.4691055417060852},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44619375467300415},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17148125171661377},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1659807562828064},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.11580818891525269},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.09399446845054626},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C185544564","wikidata":"https://www.wikidata.org/wiki/Q81197","display_name":"Nuclear physics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/10798587.1999.10750751","is_oa":false,"landing_page_url":"https://doi.org/10.1080/10798587.1999.10750751","pdf_url":null,"source":{"id":"https://openalex.org/S40639465","display_name":"Intelligent Automation & Soft Computing","issn_l":"1079-8587","issn":["1079-8587","2326-005X"],"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":"Intelligent Automation & Soft Computing","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W60776813","https://openalex.org/W1489709055","https://openalex.org/W1558755068","https://openalex.org/W1598228569","https://openalex.org/W1626178864","https://openalex.org/W1965125065","https://openalex.org/W1972932146","https://openalex.org/W1992420583","https://openalex.org/W2016715326","https://openalex.org/W2018534686","https://openalex.org/W2068455612","https://openalex.org/W2078654125","https://openalex.org/W2105857404","https://openalex.org/W2111830885","https://openalex.org/W2120763820","https://openalex.org/W2163092500","https://openalex.org/W2585541556","https://openalex.org/W4205975603","https://openalex.org/W4254306096","https://openalex.org/W6776950223"],"related_works":["https://openalex.org/W4232507865","https://openalex.org/W2022824679","https://openalex.org/W2486127549","https://openalex.org/W1584646590","https://openalex.org/W69497087","https://openalex.org/W3046468774","https://openalex.org/W1977050219","https://openalex.org/W2018825300","https://openalex.org/W2560081389","https://openalex.org/W4286470784"],"abstract_inverted_index":{"In":[0],"the":[1,14,28,40,50,98,110,134,175,197,248,271,282,285,301,315,324,328,331,339,345,360,363,366,370,373],"early":[2,15],"developmental":[3],"stages":[4],"of":[5,13,31,43,49,53,100,102,107,129,136,179,210,250,273,278,317,330,344,359,365,372,376],"robotics,":[6],"hydraulics":[7,125,216,286,292,325],"played":[8],"a":[9,127,159,190,225,241,264,291,296],"n":[10,338],"important":[11],"role.Many":[12],"high-payload":[16],"capacity":[17],"manipulators":[18,47,182,305],"were":[19],"actuated":[20],"by":[21,115],"hydraulic":[22,25,161,181,203,205,207,211,214,302,318,355,377],"cylinders":[23],"and":[24,57,78,89,92,142,149,157,168,177,194,213,237,260,304,309,341,350,379,384],"rotary":[26],"actuators.As":[27],"power-to-weight":[29],"ratio":[30],"electric":[32],"motors":[33],"increased,":[34],"they":[35],"eventually":[36],"came":[37],"to":[38,71,124,153,299],"be":[39],"preferred":[41],"form":[42],"actuation":[44],"for":[45,58,200,235,247,270,306,310],"robotic":[46],"because":[48],"relative":[51],"ease":[52],"operation,":[54],"control,":[55],"maintenance,":[56],"general":[59],"cleanliness.Recently,":[60],"however,":[61],"task":[62],"requirements":[63],"have":[64,120,131],"dictated":[65],"that":[66],"manipulator":[67,76,94,118,162,254,261,319],"payload":[68,112],"capaaty":[69],"increase":[70],"accommodate":[72],"greater":[73,75],"payloads,":[74],"length,":[77],"larger":[79],"environmental-interaction":[80],"forces.General":[81],"tasks":[82],"such":[83,145],"as":[84,126,146],"waste":[85,251],"storage":[86],"tank":[87,252],"clean-up":[88,253],"facility":[90],"dismantlement":[91],"decommissioningrequire":[93],"lift":[95],"capacities":[96,113],"in":[97,284],"range":[99],"hundreds":[101],"pounds":[103],"rather":[104],"than":[105],"tens":[106],"pounds.To":[108],"meet":[109],"increased":[111],"demanded":[114],"present-day":[116],"tasks,":[117],"designers":[119],"turned":[121],"once":[122],"again":[123],"means":[128],"actuation.Hydraulics":[130],"always":[132],"been":[133],"actuator":[135],"choice":[137],"when":[138],"designing":[139],"heavy-lift":[140],"construction":[141],"mining":[143],"equipment":[144,332],"bulldozers,":[147],"backhoes,":[148],"iunneling":[150],"devices.In":[151],"order":[152],"successfully":[154],"design,":[155],"build,":[156],"deploy":[158],"new":[160,180,276],"(or":[163],"subsystem)":[164],"sophisticated":[165],"modeling,":[166],"analysis,":[167],"control":[169],"experiments":[170,349],"are":[171,357,387],"usually":[172],"needed.To":[173],"support":[174],"development":[176,249,272,364],"deployment":[178],"Oak":[183],"Edge":[184],"National":[185],"Laboratory":[186],"(ORNL)":[187],"has":[188,195,220,289],"outfitted":[189],"significant":[191],"experimental":[192],"laboratory":[193,217],"developed":[196,290],"software":[198],"capability":[199,294],"research":[201],"into":[202],"manipulators,":[204],"actuators,":[206],"systems,":[208,212,378],"modeling":[209,351],"controls.The":[215],"at":[218,321],"ORNL":[219,288],"three":[221],"different":[222],"manipulators.First":[223],"is":[224,240,263],"&Degree-Of-Freedom":[226],"(6-DoF),":[227],"multi-planer,":[228],"teleoperated,":[229],"flexible":[230],"controls":[231,236,311],"test":[232,244,267],"bed":[233,245,268],"used":[234,246,269],"teleoperator":[238],"research.Second":[239],"2-DoF":[242],"Flexible/Prismatic":[243],"controls,":[255],"thermal":[256,374],"studies,":[257],"system":[258],"characterization,":[259],"tracking.Finally,":[262],"human":[265,367],"amplifier":[266],"an":[274],"entire":[275],"class":[277],"teleoperated":[279],"systems.To":[280],"compliment":[281],"hardware":[283],"laboratory,":[287,326,340],"simulation":[293],"including":[295],"custom":[297],"package":[298],"model":[300],"systems":[303],"performance":[307],"studies":[308],"development.This":[312],"paper":[313],"outlines":[314],"history":[316],"developments":[320],"ORNL,":[322],"describes":[323],"discusses":[327],"use":[329],"w":[333],"i":[334,337],"t":[335],"h":[336],"presents":[342],"some":[343,358],"initial":[346],"results":[347,361,386],"from":[348,362],"associated":[352],"with":[353],"these":[354],"manipulators.Included":[356],"amplifier/de-amplifier":[368],"concepts,":[369],"characterization":[371],"sensitivity":[375],"end-point":[380],"tracking":[381],"accuracy":[382],"studies.Experimental":[383],"analytical":[385],"included.":[388]},"counts_by_year":[{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}