{"id":"https://openalex.org/W2102637790","doi":"https://doi.org/10.1109/icra.2013.6631286","title":"Gravity compensation control of compliant joint systems with multiple drives","display_name":"Gravity compensation control of compliant joint systems with multiple drives","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2102637790","doi":"https://doi.org/10.1109/icra.2013.6631286","mag":"2102637790"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6631286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631286","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","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/A5078798098","display_name":"Emmanouil Spyrakos-Papastavridis","orcid":"https://orcid.org/0000-0001-7448-8529"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Emmanouil Spyrakos-Papastavridis","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074015451","display_name":"Gustavo A. Medrano\u2010Cerda","orcid":"https://orcid.org/0000-0002-6340-3443"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gustavo A. Medrano-Cerda","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos G. Tsagarakis","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040440410","display_name":"Jian S. Dai","orcid":"https://orcid.org/0000-0002-9729-1662"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jian S. Dai","raw_affiliation_strings":["Centre for Robotics Research, King's College London, London, UK","Centre for Robot. Res., King's Coll. London, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Robotics Research, King's College London, London, UK","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"Centre for Robot. Res., King's Coll. London, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4960","last_page":"4966"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994999766349792,"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":0.996399998664856,"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":0.7594735622406006},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.7556486129760742},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7338299751281738},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6722369194030762},{"id":"https://openalex.org/keywords/diagonal","display_name":"Diagonal","score":0.6234997510910034},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5929485559463501},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5657770037651062},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4536556303501129},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.41944241523742676},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3062021732330322},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2594936490058899},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16359791159629822},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09732800722122192},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08821025490760803}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7594735622406006},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.7556486129760742},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7338299751281738},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6722369194030762},{"id":"https://openalex.org/C130367717","wikidata":"https://www.wikidata.org/wiki/Q189791","display_name":"Diagonal","level":2,"score":0.6234997510910034},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5929485559463501},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5657770037651062},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4536556303501129},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.41944241523742676},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3062021732330322},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2594936490058899},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16359791159629822},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09732800722122192},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08821025490760803},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2013.6631286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631286","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unige.it:11567/798998","is_oa":false,"landing_page_url":"http://hdl.handle.net/11567/798998","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/c25d4a4c-e782-4a1d-8ac5-53e74bfb8b36","is_oa":false,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/c25d4a4c-e782-4a1d-8ac5-53e74bfb8b36","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Spyrakos Papastavridis , E , Medrano-Cerda , G , Tsagarakis , N G , Dai , J &amp; Caldwell , D G 2013 , Gravity compensation control of compliant joint systems with multiple drives . in Proceedings - IEEE International Conference on Robotics and Automation . , 6631286 , pp. 4960-4966 , 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 , Karlsruhe , Germany , 6/05/2013 . https://doi.org/10.1109/ICRA.2013.6631286","raw_type":"contributionToPeriodical"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W984238923","https://openalex.org/W1516486112","https://openalex.org/W1575037797","https://openalex.org/W1972518516","https://openalex.org/W2001472720","https://openalex.org/W2062940189","https://openalex.org/W2068027769","https://openalex.org/W2092187237","https://openalex.org/W2096202120","https://openalex.org/W2097446805","https://openalex.org/W2104444018","https://openalex.org/W2110127934","https://openalex.org/W2122827816","https://openalex.org/W2126369450","https://openalex.org/W2131588967","https://openalex.org/W2140700002","https://openalex.org/W2152957885","https://openalex.org/W2155625664","https://openalex.org/W2158583539","https://openalex.org/W2546325924","https://openalex.org/W6630949864","https://openalex.org/W6676343157","https://openalex.org/W6729099941"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2129850190","https://openalex.org/W4256317079","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W1974803039","https://openalex.org/W1991876829","https://openalex.org/W2088677124","https://openalex.org/W1589423663","https://openalex.org/W2143454724"],"abstract_inverted_index":{"This":[0],"paper":[1,33],"presents":[2],"a":[3,60,90],"sufficient":[4],"condition":[5],"to":[6,23,28,47],"establish":[7],"the":[8,29,35,63,66],"existence":[9],"of":[10,17,65,82,86,94],"unique":[11],"equilibrium":[12],"points":[13],"for":[14,62],"three":[15],"types":[16],"gravity":[18,68],"compensation":[19,69],"controller":[20,70],"when":[21],"applied":[22],"over-actuated":[24],"systems.":[25],"As":[26],"compared":[27],"existing":[30],"work,":[31],"this":[32],"extends":[34],"current":[36],"theory":[37],"by":[38],"introducing":[39],"feedback":[40],"gain":[41],"matrices":[42],"that":[43,71],"are":[44],"not":[45],"constrained":[46],"being":[48],"diagonal":[49],"and":[50],"positive":[51],"definite.":[52],"The":[53,76],"inherently":[54],"COmpliant":[55],"huMANoid":[56],"(COMAN)":[57],"served":[58],"as":[59],"platform":[61],"validation":[64],"designed":[67],"employed":[72],"reference":[73],"link":[74,84],"positions.":[75],"displayed":[77],"experimental":[78],"results":[79],"provide":[80],"evidence":[81],"successful":[83],"tracking":[85],"sinusoidal":[87],"references":[88],"on":[89],"humanoid":[91],"system":[92],"composed":[93],"series":[95],"elastic":[96],"actuators.":[97]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
