{"id":"https://openalex.org/W2059458984","doi":"https://doi.org/10.1109/amc.2012.6197113","title":"Analysis of actuator redundancy resolution methods for bi-articularly actuated robot arms","display_name":"Analysis of actuator redundancy resolution methods for bi-articularly actuated robot arms","publication_year":2012,"publication_date":"2012-03-01","ids":{"openalex":"https://openalex.org/W2059458984","doi":"https://doi.org/10.1109/amc.2012.6197113","mag":"2059458984"},"language":"en","primary_location":{"id":"doi:10.1109/amc.2012.6197113","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2012.6197113","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th 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/A5054927946","display_name":"Valerio Salvucci","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Valerio Salvucci","raw_affiliation_strings":["Department of Advanced Energy Engineering, University of Tokyo, Kashiwa, Chiba, Japan","Department of Advanced Energy Engineering, The University of Tokyo 5-1-5 Kashiwanoha, Kashiwa, Chiba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Energy Engineering, University of Tokyo, Kashiwa, Chiba, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Advanced Energy Engineering, The University of Tokyo 5-1-5 Kashiwanoha, Kashiwa, Chiba, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007243736","display_name":"Sehoon Oh","orcid":"https://orcid.org/0000-0003-0838-163X"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Sehoon Oh","raw_affiliation_strings":["Department of Electrical Engineering, University of Tokyo, Tokyo, Japan","Department of Electrical Engineering, University of Tokyo, 3-7-1 Hongo Bunkyoku Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Electrical Engineering, University of Tokyo, 3-7-1 Hongo Bunkyoku Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108536663","display_name":"Yoichi Hori","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoichi Hori","raw_affiliation_strings":["Department of Electrical Engineering, University of Tokyo, Tokyo, Japan","Department of Electrical Engineering, University of Tokyo, 3-7-1 Hongo Bunkyoku Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Electrical Engineering, University of Tokyo, 3-7-1 Hongo Bunkyoku Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7054,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.86782165,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9973999857902527,"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/actuator","display_name":"Actuator","score":0.8749679327011108},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.7607633471488953},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7437431812286377},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6844288110733032},{"id":"https://openalex.org/keywords/norm","display_name":"Norm (philosophy)","score":0.6283544301986694},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5332944393157959},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5124521851539612},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.46444278955459595},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4356231987476349},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21947157382965088},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0938132107257843},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07421886920928955}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8749679327011108},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.7607633471488953},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7437431812286377},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6844288110733032},{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.6283544301986694},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5332944393157959},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5124521851539612},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.46444278955459595},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4356231987476349},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21947157382965088},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0938132107257843},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07421886920928955},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/amc.2012.6197113","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2012.6197113","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.7300000190734863,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322210","display_name":"Inamori Foundation","ror":"https://ror.org/00ht8je70"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1967246448","https://openalex.org/W1976912497","https://openalex.org/W1978023077","https://openalex.org/W2003441021","https://openalex.org/W2005856714","https://openalex.org/W2017239762","https://openalex.org/W2022005753","https://openalex.org/W2040238080","https://openalex.org/W2042448904","https://openalex.org/W2095675211","https://openalex.org/W2101998869","https://openalex.org/W2103490944","https://openalex.org/W2119863838","https://openalex.org/W2123060456","https://openalex.org/W2125573909","https://openalex.org/W2129644801","https://openalex.org/W2150613245","https://openalex.org/W2154200048","https://openalex.org/W2162669333","https://openalex.org/W2164780681","https://openalex.org/W2164846807","https://openalex.org/W2172023907","https://openalex.org/W2332930580","https://openalex.org/W2550891192"],"related_works":["https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2011222276","https://openalex.org/W2080330449","https://openalex.org/W2007221537","https://openalex.org/W2490690736","https://openalex.org/W785766289","https://openalex.org/W1495042958","https://openalex.org/W2555022781","https://openalex.org/W3101820272"],"abstract_inverted_index":{"Bi-articular":[0],"actuators":[1,3,57],"-":[2,8],"that":[4,63],"span":[5],"two":[6,135],"joints":[7],"are":[9],"rising":[10],"interest":[11],"in":[12,53],"robot":[13,51],"application":[14],"because":[15],"they":[16],"increase":[17],"stability,":[18],"optimize":[19],"force":[20,30,35,104],"production,":[21],"and":[22,91,134],"reduce":[23],"the":[24,27,55,74,88,96,100,107,114,118,138,146],"nonlinearity":[25],"of":[26,34,140],"end":[28,102],"effector":[29,103],"as":[31],"a":[32],"function":[33],"direction.":[36],"In":[37],"this":[38],"paper,":[39],"we":[40],"propose":[41],"an":[42,141],"approach":[43,84],"to":[44],"resolve":[45],"actuator":[46,61,98],"redundancy":[47],"for":[48,128,148],"bi-articularly":[49],"actuated":[50],"arms":[52],"which":[54],"three":[56,132],"produce":[58],"maximum":[59,101,143],"joint":[60],"torques":[62],"differs":[64],"among":[65],"each":[66],"other.":[67],"A":[68],"closed":[69,123],"form":[70,124],"solution":[71,125],"based":[72,83,93],"on":[73],"infinity":[75,81],"norm":[76,82],"is":[77,85,110,126],"derived.":[78],"The":[79,121],"proposed":[80,108,122],"compared":[86],"with":[87,106,131],"conventional":[89,119],"1-norm":[90],"2-norm":[92],"methods.":[94,120],"Under":[95],"same":[97],"limitations,":[99],"produced":[105,116],"method":[109],"significantly":[111],"greater":[112],"than":[113],"one":[115],"by":[117],"suitable":[127],"redundant":[129],"systems":[130],"inputs":[133],"outputs,":[136],"bringing":[137],"advantage":[139],"higher":[142],"output":[144],"without":[145],"need":[147],"iterative":[149],"algorithms.":[150]},"counts_by_year":[{"year":2014,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}