{"id":"https://openalex.org/W2035141197","doi":"https://doi.org/10.1109/amc.2014.6823336","title":"Feedforward tracking control for lower-limb robot with antagonistic driven mechanism","display_name":"Feedforward tracking control for lower-limb robot with antagonistic driven mechanism","publication_year":2014,"publication_date":"2014-03-01","ids":{"openalex":"https://openalex.org/W2035141197","doi":"https://doi.org/10.1109/amc.2014.6823336","mag":"2035141197"},"language":"en","primary_location":{"id":"doi:10.1109/amc.2014.6823336","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2014.6823336","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE 13th 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/A5112552296","display_name":"Tomohiro Komatsu","orcid":null},"institutions":[{"id":"https://openalex.org/I1314466530","display_name":"Tokai University","ror":"https://ror.org/01p7qe739","country_code":"JP","type":"education","lineage":["https://openalex.org/I1314466530"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomohiro Komatsu","raw_affiliation_strings":["School of Engineering, Tokai University, Kanagawa, Japan","School of Engineering, Tokai University, 4-1-1 Kitakaname Hiratsuka Kanagawa, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Tokai University, Kanagawa, Japan","institution_ids":["https://openalex.org/I1314466530"]},{"raw_affiliation_string":"School of Engineering, Tokai University, 4-1-1 Kitakaname Hiratsuka Kanagawa, Japan","institution_ids":["https://openalex.org/I1314466530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108263727","display_name":"Atsushi Okuyama","orcid":null},"institutions":[{"id":"https://openalex.org/I1314466530","display_name":"Tokai University","ror":"https://ror.org/01p7qe739","country_code":"JP","type":"education","lineage":["https://openalex.org/I1314466530"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsushi Okuyama","raw_affiliation_strings":["School of Engineering, Tokai University, Kanagawa, Japan","School of Engineering, Tokai University, 4-1-1 Kitakaname Hiratsuka Kanagawa, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Tokai University, Kanagawa, Japan","institution_ids":["https://openalex.org/I1314466530"]},{"raw_affiliation_string":"School of Engineering, Tokai University, 4-1-1 Kitakaname Hiratsuka Kanagawa, Japan","institution_ids":["https://openalex.org/I1314466530"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072585907","display_name":"Takuma Nakamura","orcid":"https://orcid.org/0000-0003-1350-549X"},"institutions":[{"id":"https://openalex.org/I1314466530","display_name":"Tokai University","ror":"https://ror.org/01p7qe739","country_code":"JP","type":"education","lineage":["https://openalex.org/I1314466530"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takuma Nakamura","raw_affiliation_strings":["School of Engineering, Tokai University, Kanagawa, Japan","School of Engineering, Tokai University, 4-1-1 Kitakaname Hiratsuka Kanagawa, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Tokai University, Kanagawa, Japan","institution_ids":["https://openalex.org/I1314466530"]},{"raw_affiliation_string":"School of Engineering, Tokai University, 4-1-1 Kitakaname Hiratsuka Kanagawa, Japan","institution_ids":["https://openalex.org/I1314466530"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1314466530"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.12314747,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"5","issue":null,"first_page":"524","last_page":"529"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9998000264167786,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9998000264167786,"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/T13644","display_name":"Control Systems in Engineering","score":0.9937999844551086,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9918000102043152,"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/feed-forward","display_name":"Feed forward","score":0.8668383955955505},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8223189115524292},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7604990005493164},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.630618691444397},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6094297170639038},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5981693863868713},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5739785432815552},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5264806747436523},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.46832993626594543},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4296230971813202},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40832585096359253},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25393202900886536},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16289463639259338},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.049371540546417236}],"concepts":[{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.8668383955955505},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8223189115524292},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7604990005493164},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.630618691444397},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6094297170639038},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5981693863868713},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5739785432815552},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5264806747436523},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.46832993626594543},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4296230971813202},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40832585096359253},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25393202900886536},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16289463639259338},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.049371540546417236},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/amc.2014.6823336","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2014.6823336","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE 13th International Workshop on Advanced Motion Control (AMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1856925845","https://openalex.org/W1964956827","https://openalex.org/W2005832027","https://openalex.org/W2115730616","https://openalex.org/W2117243797","https://openalex.org/W2514451827","https://openalex.org/W2550891192","https://openalex.org/W4211003818","https://openalex.org/W6725953845"],"related_works":["https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2157008402","https://openalex.org/W2592302855","https://openalex.org/W2687915465","https://openalex.org/W2334966493","https://openalex.org/W2996812256","https://openalex.org/W2525543468","https://openalex.org/W2077728074","https://openalex.org/W2984509520"],"abstract_inverted_index":{"This":[0,57],"paper":[1,58],"addresses":[2],"a":[3,30,46,50,67,93,109],"control":[4,15,63,83,101],"issue":[5],"for":[6,23],"lower-limb":[7,110],"robots":[8],"with":[9,27,43,90,112],"antagonistic":[10,113],"actuated":[11,114],"joints.":[12,115],"The":[13,79,96],"conventional":[14],"method":[16],"has":[17],"previously":[18],"been":[19],"used":[20],"to":[21,29,38,45,54,92],"compensate":[22],"the":[24,34,40,73,77,87,99],"steady-state":[25],"error":[26],"respect":[28,44,91],"reference":[31,47,94],"trajectory.":[32,95],"However,":[33],"question":[35],"of":[36,76,98,108],"how":[37],"improve":[39,86],"tracking":[41,88],"performance":[42,89],"trajectory":[48],"remains":[49],"problem":[51],"that":[52],"needs":[53],"be":[55],"solved.":[56],"proposes":[59],"two":[60,80],"feedforward":[61],"(FF)":[62],"methods:":[64],"based":[65,71],"on":[66,72],"phase-lead":[68],"filter":[69],"and":[70],"inverse":[74],"dynamics":[75],"plant.":[78],"proposed":[81,100],"FF":[82],"methods":[84,102],"significantly":[85],"effectiveness":[97],"was":[103],"confirmed":[104],"by":[105],"numerical":[106],"simulations":[107],"robot":[111]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
