{"id":"https://openalex.org/W3099073169","doi":"https://doi.org/10.1109/amc44022.2020.9244303","title":"Ripple Minimization for Harmonic-geared Series Elastic Actuator under Force Control","display_name":"Ripple Minimization for Harmonic-geared Series Elastic Actuator under Force Control","publication_year":2020,"publication_date":"2020-09-14","ids":{"openalex":"https://openalex.org/W3099073169","doi":"https://doi.org/10.1109/amc44022.2020.9244303","mag":"3099073169"},"language":"en","primary_location":{"id":"doi:10.1109/amc44022.2020.9244303","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc44022.2020.9244303","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th 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/A5076337178","display_name":"Woosong Kang","orcid":"https://orcid.org/0000-0002-7967-1717"},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Woosong Kang","raw_affiliation_strings":["Department of Robotics Engineering, DGIST, Daegu, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics Engineering, DGIST, Daegu, Korea","institution_ids":["https://openalex.org/I193352282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100663730","display_name":"Chan Lee","orcid":"https://orcid.org/0000-0003-0813-6335"},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chan Lee","raw_affiliation_strings":["Department of Robotics Engineering, DGIST, Daegu, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics Engineering, DGIST, Daegu, Korea","institution_ids":["https://openalex.org/I193352282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007009447","display_name":"Sangjin Bae","orcid":null},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sangjin Bae","raw_affiliation_strings":["Department of Robotics Engineering, DGIST, Daegu, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics Engineering, DGIST, Daegu, Korea","institution_ids":["https://openalex.org/I193352282"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007243736","display_name":"Sehoon Oh","orcid":"https://orcid.org/0000-0003-0838-163X"},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sehoon Oh","raw_affiliation_strings":["Department of Robotics Engineering, DGIST, Daegu, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics Engineering, DGIST, Daegu, Korea","institution_ids":["https://openalex.org/I193352282"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.12112805,"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":"279","last_page":"284"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9959999918937683,"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":0.9952999949455261,"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/ripple","display_name":"Ripple","score":0.8496440649032593},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8483277559280396},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.772719144821167},{"id":"https://openalex.org/keywords/torque-ripple","display_name":"Torque ripple","score":0.7408984899520874},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6849149465560913},{"id":"https://openalex.org/keywords/harmonic-drive","display_name":"Harmonic drive","score":0.6753946542739868},{"id":"https://openalex.org/keywords/harmonic","display_name":"Harmonic","score":0.6357861757278442},{"id":"https://openalex.org/keywords/harmonic-analysis","display_name":"Harmonic analysis","score":0.5477376580238342},{"id":"https://openalex.org/keywords/harmonics","display_name":"Harmonics","score":0.4945995509624481},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.49097874760627747},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47917166352272034},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.4446799159049988},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4236878454685211},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34425270557403564},{"id":"https://openalex.org/keywords/direct-torque-control","display_name":"Direct torque control","score":0.287640780210495},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21751180291175842},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20768499374389648},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.12734690308570862},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.10657727718353271},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.10126680135726929},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.09559997916221619},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.07851332426071167},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.07285046577453613},{"id":"https://openalex.org/keywords/induction-motor","display_name":"Induction motor","score":0.06822362542152405}],"concepts":[{"id":"https://openalex.org/C2779599953","wikidata":"https://www.wikidata.org/wiki/Q1776117","display_name":"Ripple","level":3,"score":0.8496440649032593},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8483277559280396},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.772719144821167},{"id":"https://openalex.org/C2779675184","wikidata":"https://www.wikidata.org/wiki/Q7826797","display_name":"Torque ripple","level":5,"score":0.7408984899520874},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6849149465560913},{"id":"https://openalex.org/C2777105549","wikidata":"https://www.wikidata.org/wiki/Q751500","display_name":"Harmonic drive","level":2,"score":0.6753946542739868},{"id":"https://openalex.org/C127934551","wikidata":"https://www.wikidata.org/wiki/Q1148098","display_name":"Harmonic","level":2,"score":0.6357861757278442},{"id":"https://openalex.org/C131770355","wikidata":"https://www.wikidata.org/wiki/Q876215","display_name":"Harmonic analysis","level":2,"score":0.5477376580238342},{"id":"https://openalex.org/C188414643","wikidata":"https://www.wikidata.org/wiki/Q3001183","display_name":"Harmonics","level":3,"score":0.4945995509624481},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.49097874760627747},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47917166352272034},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.4446799159049988},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4236878454685211},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34425270557403564},{"id":"https://openalex.org/C109871850","wikidata":"https://www.wikidata.org/wiki/Q1227571","display_name":"Direct torque control","level":4,"score":0.287640780210495},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21751180291175842},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20768499374389648},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.12734690308570862},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.10657727718353271},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.10126680135726929},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.09559997916221619},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.07851332426071167},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.07285046577453613},{"id":"https://openalex.org/C80962145","wikidata":"https://www.wikidata.org/wiki/Q207450","display_name":"Induction motor","level":3,"score":0.06822362542152405},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/amc44022.2020.9244303","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc44022.2020.9244303","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.8600000143051147}],"awards":[{"id":"https://openalex.org/G7229538006","display_name":null,"funder_award_id":"NRF-2019R1A2C2011444","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1983458387","https://openalex.org/W2004017403","https://openalex.org/W2081565577","https://openalex.org/W2111253117","https://openalex.org/W2122827816","https://openalex.org/W2154192606","https://openalex.org/W2523980053","https://openalex.org/W2573227850","https://openalex.org/W2605924239","https://openalex.org/W2764255492","https://openalex.org/W2811327887"],"related_works":["https://openalex.org/W4229441739","https://openalex.org/W3010453361","https://openalex.org/W43529617","https://openalex.org/W1973561268","https://openalex.org/W2966698490","https://openalex.org/W4403022750","https://openalex.org/W2163418792","https://openalex.org/W4390807180","https://openalex.org/W4230917607","https://openalex.org/W3133153217"],"abstract_inverted_index":{"This":[0],"paper":[1],"develops":[2],"an":[3,8],"accurate":[4,46],"force":[5,47,82],"control":[6,48],"algorithm":[7],"reduce":[9],"the":[10,16,61,77,94,97],"effect":[11,78],"of":[12,53,79,96],"torque":[13,56],"ripple":[14,64,80],"for":[15,86],"Series":[17],"Elastic":[18],"Actuators":[19],"(SEA).":[20],"The":[21,70],"harmonic":[22,54,62],"drive":[23,55,63],"is":[24,29,66,73],"a":[25,40],"geared":[26],"system":[27],"which":[28],"widely":[30],"utilized":[31,74],"in":[32,50],"actuators":[33],"such":[34],"as":[35],"SEA.":[36,87],"However,":[37],"it":[38],"becomes":[39],"big":[41],"challenge":[42],"to":[43,75,92],"achieve":[44],"highly":[45],"performance":[49,95],"SEA":[51],"because":[52],"ripple.":[57],"In":[58],"this":[59],"study,":[60],"model":[65,72],"analyzed":[67],"and":[68,84],"characterized.":[69],"derived":[71],"minimize":[76],"with":[81],"observation":[83],"controller":[85],"Experimental":[88],"verifications":[89],"are":[90],"conducted":[91],"evaluate":[93],"proposed":[98],"algorithm.":[99]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
