{"id":"https://openalex.org/W4367665500","doi":"https://doi.org/10.1109/access.2023.3272045","title":"Dual-Channel EtherCAT Control System for 33-DOF Humanoid Robot TOCABI","display_name":"Dual-Channel EtherCAT Control System for 33-DOF Humanoid Robot TOCABI","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4367665500","doi":"https://doi.org/10.1109/access.2023.3272045"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3272045","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3272045","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10113634.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10113634.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078398482","display_name":"Junewhee Ahn","orcid":"https://orcid.org/0000-0003-3454-1940"},"institutions":[{"id":"https://openalex.org/I118373667","display_name":"Seoul National University of Science and Technology","ror":"https://ror.org/00chfja07","country_code":"KR","type":"education","lineage":["https://openalex.org/I118373667"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Junewhee Ahn","raw_affiliation_strings":["Department of Intelligence and Information, Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Intelligence and Information, Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I118373667"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103077520","display_name":"Suhan Park","orcid":"https://orcid.org/0000-0001-6094-0908"},"institutions":[{"id":"https://openalex.org/I118373667","display_name":"Seoul National University of Science and Technology","ror":"https://ror.org/00chfja07","country_code":"KR","type":"education","lineage":["https://openalex.org/I118373667"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Suhan Park","raw_affiliation_strings":["Department of Intelligence and Information, Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0001-6094-0908","affiliations":[{"raw_affiliation_string":"Department of Intelligence and Information, Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I118373667"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015321381","display_name":"Jaehoon Sim","orcid":"https://orcid.org/0000-0002-0095-5953"},"institutions":[{"id":"https://openalex.org/I118373667","display_name":"Seoul National University of Science and Technology","ror":"https://ror.org/00chfja07","country_code":"KR","type":"education","lineage":["https://openalex.org/I118373667"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaehoon Sim","raw_affiliation_strings":["Department of Intelligence and Information, Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-0095-5953","affiliations":[{"raw_affiliation_string":"Department of Intelligence and Information, Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I118373667"]}]},{"author_position":"last","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"]},{"id":"https://openalex.org/I4210120602","display_name":"Advanced Institute of Convergence Technology","ror":"https://ror.org/01w62yz22","country_code":"KR","type":"facility","lineage":["https://openalex.org/I139264467","https://openalex.org/I4210120602"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaeheung Park","raw_affiliation_strings":["Department of Intelligence and Information, Graduate School of Convergence Science and Technology, ASRI, RICS, Seoul National University, Seoul, Republic of Korea","Advanced Institutes of Convergence Technology (AICT), Suwon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-5062-8264","affiliations":[{"raw_affiliation_string":"Department of Intelligence and Information, Graduate School of Convergence Science and Technology, ASRI, RICS, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Advanced Institutes of Convergence Technology (AICT), Suwon, Republic of Korea","institution_ids":["https://openalex.org/I4210120602"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.7496,"has_fulltext":true,"cited_by_count":18,"citation_normalized_percentile":{"value":0.83373701,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"11","issue":null,"first_page":"44278","last_page":"44286"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9947999715805054,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9947999715805054,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9936000108718872,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9925000071525574,"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/humanoid-robot","display_name":"Humanoid robot","score":0.7834820747375488},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.696393609046936},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.606157660484314},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.49603065848350525},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4547911286354065},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.448158323764801},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.44355830550193787},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.43927913904190063},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4361787438392639},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4183996021747589},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.4035744369029999},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21610134840011597},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13765454292297363},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.11583077907562256}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7834820747375488},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.696393609046936},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.606157660484314},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.49603065848350525},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4547911286354065},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.448158323764801},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.44355830550193787},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.43927913904190063},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4361787438392639},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4183996021747589},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.4035744369029999},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21610134840011597},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13765454292297363},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.11583077907562256},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2023.3272045","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3272045","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10113634.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:0b6c5fbd47264bab92cb0aab3bb4e935","is_oa":true,"landing_page_url":"https://doaj.org/article/0b6c5fbd47264bab92cb0aab3bb4e935","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 11, Pp 44278-44286 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3272045","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3272045","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10113634.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G2141362931","display_name":null,"funder_award_id":"2021R1A2C3005914","funder_id":"https://openalex.org/F4320320671","funder_display_name":"National Research Foundation"},{"id":"https://openalex.org/G2987133428","display_name":null,"funder_award_id":"2021R1A2C3005914","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"},{"id":"https://openalex.org/G6710526294","display_name":null,"funder_award_id":"2021R1A2C3005914","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4367665500.pdf","grobid_xml":"https://content.openalex.org/works/W4367665500.grobid-xml"},"referenced_works_count":19,"referenced_works":["https://openalex.org/W1570792896","https://openalex.org/W2019280238","https://openalex.org/W2026338207","https://openalex.org/W2115454650","https://openalex.org/W2158782408","https://openalex.org/W2169372595","https://openalex.org/W2172918760","https://openalex.org/W2379145988","https://openalex.org/W2423857766","https://openalex.org/W2518317427","https://openalex.org/W2783712552","https://openalex.org/W2791313415","https://openalex.org/W2912701897","https://openalex.org/W2980524272","https://openalex.org/W3092499535","https://openalex.org/W3192973392","https://openalex.org/W4200561776","https://openalex.org/W4313563011","https://openalex.org/W6799838919"],"related_works":["https://openalex.org/W2543019745","https://openalex.org/W2531662632","https://openalex.org/W2314176764","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2163555676","https://openalex.org/W4390481035","https://openalex.org/W2778262232","https://openalex.org/W4386128912"],"abstract_inverted_index":{"Multi-axis":[0],"actuation":[1],"robotics":[2],"systems":[3,192],"comprising":[4],"many":[5],"joints":[6],"with":[7,42,193,202],"a":[8,32,57,79,84,139],"floating":[9],"base":[10],"require":[11,21,197],"more":[12,22],"stability":[13],"and":[14,19,91,103,128,169],"safety":[15],"than":[16],"fixed":[17],"robots":[18],"thus":[20],"considerations.":[23],"In":[24],"this":[25,94,156],"paper,":[26],"we":[27,120],"describe":[28],"the":[29,38,54,65,76,97,100,105,115,118,122,125,130,159,183],"implementation":[30],"of":[31,45,56,64,78,117,124,132,155,161,188],"real-time":[33,111,135,145,199],"EtherCAT":[34,59,81,126,141,166,176],"control":[35,63],"system":[36],"for":[37],"TOCABI":[39],"humanoid":[40],"robot":[41,191],"33":[43],"degrees":[44],"freedom":[46],"(DOFs)":[47],"is":[48,52,185],"described.":[49],"The":[50,153,179],"focus":[51],"on":[53,99,134],"development":[55],"high-performing":[58,140],"MainDevice,":[60],"which":[61,196],"enables":[62],"robot\u2019s":[66],"high":[67,194],"DOF":[68],"at":[69],"fast":[70],"communication":[71,89,101,106,127],"cycles.":[72],"We":[73],"also":[74],"explore":[75],"use":[77],"dual-channel":[80],"MainDevice":[82,142,167,177],"as":[83],"redundancy":[85],"mechanism":[86],"to":[87,109,173,182],"handle":[88],"disruptions":[90],"show":[92],"that":[93,138],"configuration":[95],"reduces":[96],"burden":[98],"network":[102],"increases":[104],"cycle,":[107],"leading":[108],"good":[110],"performance.":[112],"To":[113],"demonstrate":[114,158],"advantages":[116],"system,":[119],"examine":[121],"performance":[123],"evaluate":[129],"impact":[131],"RTnet":[133],"performance,":[136],"demonstrating":[137],"having":[143],"hard":[144,198],"capabilities":[146],"can":[147],"be":[148],"established":[149],"using":[150,162],"open-source":[151,171,203],"software.":[152,204],"results":[154],"work":[157],"potential":[160],"dual":[163],"channels":[164],"in":[165],"configurations":[168],"utilizing":[170],"software":[172],"implement":[174],"low-cost":[175],"systems.":[178],"paper\u2019s":[180],"contribution":[181],"field":[184],"its":[186],"indication":[187],"developing":[189],"stable":[190],"DOF,":[195],"capability,":[200],"even":[201]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}