{"id":"https://openalex.org/W2041917435","doi":"https://doi.org/10.1109/amc.2010.5464036","title":"Bilateral control considering singularity based on observation of torque error","display_name":"Bilateral control considering singularity based on observation of torque error","publication_year":2010,"publication_date":"2010-03-01","ids":{"openalex":"https://openalex.org/W2041917435","doi":"https://doi.org/10.1109/amc.2010.5464036","mag":"2041917435"},"language":"en","primary_location":{"id":"doi:10.1109/amc.2010.5464036","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2010.5464036","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","raw_type":"proceedings-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/A5076742802","display_name":"Kazuki Nagase","orcid":null},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kazuki Nagase","raw_affiliation_strings":["Department of System Design Engineering, Keio University, Yokohama, Japan","Department of System Design Engineering, Keio University, 3-14-1 Hiyoshi, Kohoku, Yokohama 223-8522, Japan"],"affiliations":[{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Department of System Design Engineering, Keio University, 3-14-1 Hiyoshi, Kohoku, Yokohama 223-8522, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014390830","display_name":"Seiichiro Katsura","orcid":"https://orcid.org/0000-0002-7487-0610"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Seiichiro Katsura","raw_affiliation_strings":["Department of System Design Engineering, Keio University, Yokohama, Japan","Department of System Design Engineering, Keio University, 3-14-1 Hiyoshi, Kohoku, Yokohama 223-8522, Japan"],"affiliations":[{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Department of System Design Engineering, Keio University, 3-14-1 Hiyoshi, Kohoku, Yokohama 223-8522, Japan","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5076742802"],"corresponding_institution_ids":["https://openalex.org/I203951103"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.1576495,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"5","issue":null,"first_page":"744","last_page":"749"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9980999827384949,"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/T13885","display_name":"Geophysics and Sensor Technology","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.8947465419769287},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.8216392993927002},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7613914012908936},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.7173521518707275},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5925917625427246},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5875495672225952},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5126954317092896},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.48876214027404785},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41606104373931885},{"id":"https://openalex.org/keywords/moore\u2013penrose-pseudoinverse","display_name":"Moore\u2013Penrose pseudoinverse","score":0.41430583596229553},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4140968918800354},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2171844244003296},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21695607900619507},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19661402702331543},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19422808289527893},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.16516873240470886},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.14484462141990662},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13614752888679504},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12792620062828064},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09780818223953247},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08574607968330383}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.8947465419769287},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.8216392993927002},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7613914012908936},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.7173521518707275},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5925917625427246},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5875495672225952},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5126954317092896},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.48876214027404785},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41606104373931885},{"id":"https://openalex.org/C21556879","wikidata":"https://www.wikidata.org/wiki/Q43219517","display_name":"Moore\u2013Penrose pseudoinverse","level":3,"score":0.41430583596229553},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4140968918800354},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2171844244003296},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21695607900619507},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19661402702331543},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19422808289527893},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.16516873240470886},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.14484462141990662},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13614752888679504},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12792620062828064},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09780818223953247},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08574607968330383},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/amc.2010.5464036","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2010.5464036","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W2016177132","https://openalex.org/W2038220101","https://openalex.org/W2038427900","https://openalex.org/W2066118009","https://openalex.org/W2096323098","https://openalex.org/W2100939154","https://openalex.org/W2102279668","https://openalex.org/W2105853760","https://openalex.org/W2107223156","https://openalex.org/W2113869864","https://openalex.org/W2114945409","https://openalex.org/W2116411507","https://openalex.org/W2134927525","https://openalex.org/W2135464393","https://openalex.org/W2144865115","https://openalex.org/W2148962693","https://openalex.org/W2155210478","https://openalex.org/W2159461799","https://openalex.org/W2168530549","https://openalex.org/W2171649388","https://openalex.org/W2540893129","https://openalex.org/W2561111412","https://openalex.org/W4242059591"],"related_works":["https://openalex.org/W2379794025","https://openalex.org/W2166615337","https://openalex.org/W2358210647","https://openalex.org/W2063530331","https://openalex.org/W2144801384","https://openalex.org/W2125355805","https://openalex.org/W2158743457","https://openalex.org/W2969153248","https://openalex.org/W1985623390","https://openalex.org/W2355238070"],"abstract_inverted_index":{"Recently,":[0],"there":[1],"are":[2,115,151],"many":[3],"researches":[4],"of":[5,48,68,83,97,132,144],"a":[6,11,24,37,49,69,84,89],"system":[7,14,81,121,126],"which":[8,15],"has":[9],"implemented":[10],"bilateral":[12,38,79,119,146],"control":[13,39,80,120,147],"can":[16],"touch":[17],"an":[18,64],"environment":[19],"in":[20,36],"distant":[21],"place.":[22],"However,":[23],"singular":[25,50],"configuration":[26,51],"due":[27,135],"to":[28,117,136],"the":[29,34,46,53,72,78,94,98,118,130,133,145],"inverse":[30,54],"Jacobian":[31,55],"matrix":[32,56],"becomes":[33],"problem":[35,47],"with":[40,122,148],"different":[41,123,149],"configurations.":[42],"In":[43,62],"this":[44],"paper,":[45],"regarding":[52,71],"is":[57,75,102,107,127,139],"avoided":[58],"by":[59],"singularity-consistent":[60,73,137],"method.":[61],"addition,":[63],"error":[65,131],"observation":[66],"method":[67,74,106,111,114,138],"torque":[70,134],"proposed.":[76],"And,":[77],"consists":[82],"parallel":[85,99],"link":[86,91,100],"manipulator":[87,101],"and":[88,112,129],"serial":[90],"manipulator.":[92],"When":[93],"direct":[95],"kinematics":[96],"derived,":[103],"mode":[104],"decoupling":[105],"introduced.":[108],"Finally,":[109],"proposed":[110],"sc":[113],"applied":[116],"configurations,":[124],"its":[125],"realized":[128],"observed.":[140],"The":[141],"experimental":[142],"results":[143],"configurations":[150],"shown.":[152]},"counts_by_year":[{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}