{"id":"https://openalex.org/W1980489867","doi":"https://doi.org/10.1109/icra.2012.6225384","title":"Development of Kalman Filter based two-port Body Force Observer for the flexible joint: Design and experiments","display_name":"Development of Kalman Filter based two-port Body Force Observer for the flexible joint: Design and experiments","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W1980489867","doi":"https://doi.org/10.1109/icra.2012.6225384","mag":"1980489867"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225384","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225384","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5111708562","display_name":"Young Jin Park","orcid":null},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Young Jin Park","raw_affiliation_strings":["Department of Mechanical Engineering, Pohang University of Science and Technology, Pohang, South Korea","Department of Mechanical Engineering, Pohang University of Science and Technology, San 31, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Pohang University of Science and Technology, Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Pohang University of Science and Technology, San 31, Korea","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068411583","display_name":"Hosun Lee","orcid":"https://orcid.org/0000-0003-0246-4442"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hosun Lee","raw_affiliation_strings":["Interaction and Robotics Research Center, Korea Institute of Science and Technology, Seoul, South Korea","Interaction and Robotics Research Center; Korea Institute of Science and Technology; Seoul Korea"],"affiliations":[{"raw_affiliation_string":"Interaction and Robotics Research Center, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Interaction and Robotics Research Center; Korea Institute of Science and Technology; Seoul Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101939813","display_name":"Yonghwan Oh","orcid":"https://orcid.org/0000-0002-1109-305X"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yonghwan Oh","raw_affiliation_strings":["Interaction and Robotics Research Center, Korea Institute of Science and Technology, Seoul, South Korea","Interaction and Robotics Research Center; Korea Institute of Science and Technology; Seoul Korea"],"affiliations":[{"raw_affiliation_string":"Interaction and Robotics Research Center, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Interaction and Robotics Research Center; Korea Institute of Science and Technology; Seoul Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020648634","display_name":"Wan Kyun Chung","orcid":"https://orcid.org/0000-0003-2715-5320"},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Wan Kyun Chung","raw_affiliation_strings":["Faculty of Mechanical Engineering, Pohang University of Science and Technology, Pohang, South Korea","Faculty of Mechanical Engineering, Pohang University of Science and Technology, San 31, Korea"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Pohang University of Science and Technology, Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering, Pohang University of Science and Technology, San 31, Korea","institution_ids":["https://openalex.org/I123900574"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5111708562"],"corresponding_institution_ids":["https://openalex.org/I123900574"],"apc_list":null,"apc_paid":null,"fwci":0.8843,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.75472742,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2717","last_page":"2722"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9993000030517578,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9987000226974487,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9957000017166138,"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/control-theory","display_name":"Control theory (sociology)","score":0.7845907211303711},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7075740098953247},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6083543300628662},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.592786967754364},{"id":"https://openalex.org/keywords/port","display_name":"Port (circuit theory)","score":0.5819129347801208},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46477749943733215},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4533788561820984},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4472362995147705},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37272727489471436},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.352272093296051},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1696823239326477},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0920419692993164},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08961248397827148},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07318580150604248}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7845907211303711},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7075740098953247},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6083543300628662},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.592786967754364},{"id":"https://openalex.org/C32802771","wikidata":"https://www.wikidata.org/wiki/Q2443617","display_name":"Port (circuit theory)","level":2,"score":0.5819129347801208},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46477749943733215},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4533788561820984},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4472362995147705},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37272727489471436},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.352272093296051},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1696823239326477},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0920419692993164},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08961248397827148},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07318580150604248},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2012.6225384","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225384","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.7200000286102295,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1531532259","https://openalex.org/W2035498287","https://openalex.org/W2072422871","https://openalex.org/W2121407927","https://openalex.org/W2121875890","https://openalex.org/W2150024155","https://openalex.org/W2154777391","https://openalex.org/W2159858324","https://openalex.org/W6668608089","https://openalex.org/W6677880940"],"related_works":["https://openalex.org/W2089114113","https://openalex.org/W2389555968","https://openalex.org/W2352634297","https://openalex.org/W2320550378","https://openalex.org/W2020144404","https://openalex.org/W4372347353","https://openalex.org/W2149615975","https://openalex.org/W2103062922","https://openalex.org/W2162299404","https://openalex.org/W1573859018"],"abstract_inverted_index":{"One":[0],"of":[1,63,118,169],"the":[2,21,24,29,61,85,89,94,98,102,106,112,131,137,149,153,158,161,167],"main":[3],"reasons":[4],"for":[5,35],"using":[6,93],"a":[7,12,36,53],"joint":[8,38,55,99,107,142],"torque":[9,27,32,56,104,108],"sensor":[10,57,103,109],"in":[11,136,148,157],"robot":[13],"is":[14,42,122,127],"to":[15,44,60,79,165],"measure":[16,45],"body":[17],"forces":[18],"acting":[19],"on":[20,111],"system.":[22],"Especially,":[23],"motor":[25,138],"actuating":[26],"and":[28,88,101,124,156],"external":[30],"link":[31],"are":[33,146],"important":[34],"flexible":[37,141],"control.":[39],"However,":[40],"it":[41],"difficult":[43],"or":[46],"estimate":[47,80],"those":[48],"two":[49,81],"torques":[50,83],"simultaneously":[51,92],"with":[52,133,177],"single":[54],"only":[58],"due":[59],"lack":[62],"information.":[64],"In":[65],"this":[66],"paper,":[67],"Kalman":[68,113],"Filter":[69],"based":[70,110],"two-port":[71,95],"Body":[72],"Force":[73],"OBserver(KF":[74],"2-port":[75,120,171],"BFOB)":[76],"was":[77],"proposed":[78],"output":[82],"from":[84,105],"motor-side":[86],"port":[87,91],"link-side":[90],"system":[96],"dynamics,":[97],"angle":[100],"filter.":[114],"The":[115,144,173],"basic":[116],"idea":[117],"KF":[119,170],"BFOB":[121],"illustrated":[123],"its":[125],"performance":[126,168],"verified":[128],"by":[129],"implementing":[130],"algorithm":[132],"disturbance":[134],"observer(DOB)":[135],"actuated":[139],"one-DOF":[140],"robot.":[143],"experiments":[145],"executed":[147],"planar":[150],"situation":[151],"(under":[152],"gravity-free":[154],"condition)":[155,163],"vertical":[159],"situation(under":[160],"gravity":[162],"respectively":[164],"verify":[166],"BFOB.":[172],"results":[174],"show":[175],"something":[176],"conclusion.":[178]},"counts_by_year":[{"year":2019,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}