{"id":"https://openalex.org/W2570305688","doi":"https://doi.org/10.1109/humanoids.2016.7803417","title":"Convexity of stiffness matrix eigenvalues for a position controlled limb of mobile climbing robots","display_name":"Convexity of stiffness matrix eigenvalues for a position controlled limb of mobile climbing robots","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2570305688","doi":"https://doi.org/10.1109/humanoids.2016.7803417","mag":"2570305688"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2016.7803417","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803417","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5027410770","display_name":"Xuan Lin","orcid":"https://orcid.org/0000-0001-7216-1821"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xuan Lin","raw_affiliation_strings":["University of California, Los Angeles"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Los Angeles","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068194893","display_name":"Dennis Hong","orcid":"https://orcid.org/0000-0002-1089-4373"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dennis W. Hong","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California, Los Angeles"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, Los Angeles","institution_ids":["https://openalex.org/I161318765"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I161318765"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"21","issue":null,"first_page":"1161","last_page":"1166"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9990000128746033,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"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/stiffness","display_name":"Stiffness","score":0.6528005599975586},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6031785607337952},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5556346774101257},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.46924757957458496},{"id":"https://openalex.org/keywords/stiffness-matrix","display_name":"Stiffness matrix","score":0.44979995489120483},{"id":"https://openalex.org/keywords/eigenvalues-and-eigenvectors","display_name":"Eigenvalues and eigenvectors","score":0.44379061460494995},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4383801221847534},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40980446338653564},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.39834064245224},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3538779020309448},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.31624841690063477},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3142373263835907},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18958497047424316},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15393033623695374},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08318662643432617}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6528005599975586},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6031785607337952},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5556346774101257},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.46924757957458496},{"id":"https://openalex.org/C14198674","wikidata":"https://www.wikidata.org/wiki/Q3851930","display_name":"Stiffness matrix","level":3,"score":0.44979995489120483},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.44379061460494995},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4383801221847534},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40980446338653564},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.39834064245224},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3538779020309448},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.31624841690063477},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3142373263835907},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18958497047424316},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15393033623695374},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08318662643432617},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2016.7803417","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803417","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)","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":18,"referenced_works":["https://openalex.org/W1530303151","https://openalex.org/W1897361787","https://openalex.org/W1970752792","https://openalex.org/W1982447964","https://openalex.org/W1983241812","https://openalex.org/W1993769327","https://openalex.org/W2017239762","https://openalex.org/W2026540717","https://openalex.org/W2112474089","https://openalex.org/W2113754751","https://openalex.org/W2138419444","https://openalex.org/W2150367199","https://openalex.org/W2167357810","https://openalex.org/W2169164876","https://openalex.org/W2323800343","https://openalex.org/W2626502334","https://openalex.org/W4250589301","https://openalex.org/W6676873721"],"related_works":["https://openalex.org/W585100505","https://openalex.org/W1993699589","https://openalex.org/W2088429012","https://openalex.org/W1978561773","https://openalex.org/W4386004832","https://openalex.org/W2325836299","https://openalex.org/W2508382938","https://openalex.org/W2368974034","https://openalex.org/W2526541772","https://openalex.org/W2123074364"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,11,53,70],"simple":[4],"model":[5,39],"of":[6,10,23,47,49,55,66,83,91,101],"the":[7,24,44,63,76,81,89,99],"structure":[8,110],"stiffness":[9,21,50,67,95],"position":[12],"controlled":[13],"limb":[14,26],"designed":[15],"for":[16],"mobile":[17],"climbing":[18],"robot.":[19],"The":[20],"matrices":[22],"robot":[25],"at":[27],"different":[28],"configurations":[29],"are":[30,33],"investigated.":[31],"Experiments":[32,59],"conducted":[34],"to":[35,42,75,103],"demonstrate":[36],"that":[37,62],"this":[38],"is":[40,69],"able":[41],"predict":[43],"general":[45],"trend":[46],"change":[48],"matrix":[51,68],"as":[52],"function":[54,72],"end":[56],"effector":[57,77],"position.":[58],"also":[60],"show":[61],"maximum":[64],"eigenvalue":[65],"convex":[71],"with":[73],"respect":[74],"position,":[78],"which":[79],"matches":[80],"prediction":[82],"theory.":[84],"Other":[85],"testing":[86],"includes":[87],"measuring":[88],"effect":[90],"motor":[92],"backlash":[93],"on":[94],"coefficients,":[96],"and":[97,109],"gauge":[98],"amount":[100],"contribution":[102],"total":[104],"compliance":[105,108],"from":[106],"joint":[107],"compliance.":[111]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
