{"id":"https://openalex.org/W2078559291","doi":"https://doi.org/10.1109/amc.2010.5464097","title":"On a high-backdrivable direct-drive actuator for musculoskeletal bipedal robots","display_name":"On a high-backdrivable direct-drive actuator for musculoskeletal bipedal robots","publication_year":2010,"publication_date":"2010-03-01","ids":{"openalex":"https://openalex.org/W2078559291","doi":"https://doi.org/10.1109/amc.2010.5464097","mag":"2078559291"},"language":"en","primary_location":{"id":"doi:10.1109/amc.2010.5464097","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2010.5464097","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/A5026753908","display_name":"Yasutaka Fujimoto","orcid":"https://orcid.org/0000-0002-8106-5425"},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yasutaka Fujimoto","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Yokohama National University, Yokohama, Japan","Department of Electrical and Computer Engineering, Yokohama National University, Yokohama,240-8501 Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Yokohama National University, Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Yokohama National University, Yokohama,240-8501 Japan","institution_ids":["https://openalex.org/I180203408"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087354082","display_name":"Yuuki Wakayama","orcid":null},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuuki Wakayama","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Yokohama National University, Yokohama, Japan","Department of Electrical and Computer Engineering, Yokohama National University, Yokohama,240-8501 Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Yokohama National University, Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Yokohama National University, Yokohama,240-8501 Japan","institution_ids":["https://openalex.org/I180203408"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111667336","display_name":"Hiroko Omori","orcid":null},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroko Omori","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Yokohama National University, Yokohama, Japan","Department of Electrical and Computer Engineering, Yokohama National University, Yokohama,240-8501 Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Yokohama National University, Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Yokohama National University, Yokohama,240-8501 Japan","institution_ids":["https://openalex.org/I180203408"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007206975","display_name":"Issam A. Smadi","orcid":"https://orcid.org/0000-0001-7593-7787"},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Issam A. Smadi","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Yokohama National University, Yokohama, Japan","Department of Electrical and Computer Engineering, Yokohama National University, Yokohama,240-8501 Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Yokohama National University, Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Yokohama National University, Yokohama,240-8501 Japan","institution_ids":["https://openalex.org/I180203408"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5026753908"],"corresponding_institution_ids":["https://openalex.org/I180203408"],"apc_list":null,"apc_paid":null,"fwci":1.2668,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.80185342,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"389","last_page":"395"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9988999962806702,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9988999962806702,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9955999851226807,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.995199978351593,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/stator","display_name":"Stator","score":0.708289623260498},{"id":"https://openalex.org/keywords/spiral","display_name":"Spiral (railway)","score":0.691288948059082},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6769384145736694},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5296596884727478},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.4370481073856354},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43191081285476685},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.42835646867752075},{"id":"https://openalex.org/keywords/dc-motor","display_name":"DC motor","score":0.41891419887542725},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35412874817848206},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33604884147644043},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.18427684903144836},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16003909707069397}],"concepts":[{"id":"https://openalex.org/C2776529397","wikidata":"https://www.wikidata.org/wiki/Q190312","display_name":"Stator","level":2,"score":0.708289623260498},{"id":"https://openalex.org/C174128100","wikidata":"https://www.wikidata.org/wiki/Q846907","display_name":"Spiral (railway)","level":2,"score":0.691288948059082},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6769384145736694},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5296596884727478},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.4370481073856354},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43191081285476685},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.42835646867752075},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.41891419887542725},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35412874817848206},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33604884147644043},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.18427684903144836},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16003909707069397}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/amc.2010.5464097","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2010.5464097","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":[{"score":0.8199999928474426,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1962965017","https://openalex.org/W1973805308","https://openalex.org/W2096322288","https://openalex.org/W2102279668","https://openalex.org/W2111253117","https://openalex.org/W2121316434","https://openalex.org/W2125562916","https://openalex.org/W2131404784","https://openalex.org/W2132005662","https://openalex.org/W2141163906","https://openalex.org/W2157767862","https://openalex.org/W2536982192"],"related_works":["https://openalex.org/W623794290","https://openalex.org/W2372255233","https://openalex.org/W2361693169","https://openalex.org/W2130828945","https://openalex.org/W2360961134","https://openalex.org/W2943302342","https://openalex.org/W2350949866","https://openalex.org/W2325040020","https://openalex.org/W2039525340","https://openalex.org/W1960586125"],"abstract_inverted_index":{"This":[0],"paper":[1],"reports":[2],"on":[3,52],"newly":[4],"developed":[5],"small-size":[6],"prototypes":[7],"of":[8,55,70,90],"spiral":[9,77,92],"motors":[10,78],"for":[11],"a":[12,71],"musculoskeletal":[13,72],"robot":[14,73],"application.":[15],"The":[16,31,58],"prototype":[17],"has":[18],"smooth":[19],"helical":[20],"surface":[21,54],"so":[22],"that":[23],"the":[24,29,53,56,76,91],"mover":[25],"can":[26],"touch":[27],"down":[28],"stator.":[30],"stator":[32],"core":[33],"is":[34,84],"made":[35],"from":[36],"SMC":[37],"(Soft":[38],"Magnetic":[39],"Composite)":[40],"in":[41,74],"order":[42],"to":[43],"reduce":[44],"iron":[45],"loss.":[46],"Helical-shape":[47],"permanent":[48],"magnets":[49],"are":[50,79,94],"mounted":[51],"mover.":[57],"motor":[59,93],"realizes":[60],"compact":[61],"direct-drive":[62],"motion":[63],"systems.":[64],"A":[65],"concept":[66],"and":[67,88],"design":[68],"sketch":[69],"which":[75],"installed":[80],"as":[81],"artificial":[82],"muscle":[83],"shown.":[85],"Also":[86],"modeling":[87],"control":[89],"reported.":[95]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
