{"id":"https://openalex.org/W2090818729","doi":"https://doi.org/10.1109/icra.2014.6907603","title":"Energy savings of a 2-DOF manipulator with redundant actuation","display_name":"Energy savings of a 2-DOF manipulator with redundant actuation","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2090818729","doi":"https://doi.org/10.1109/icra.2014.6907603","mag":"2090818729"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907603","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907603","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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/A5063662731","display_name":"Giuk Lee","orcid":"https://orcid.org/0000-0001-9414-4475"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Giuk Lee","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea","School of Mechanical and Aerospace Engineering Seoul National University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100348873","display_name":"Donghun Lee","orcid":"https://orcid.org/0000-0003-1814-2683"},"institutions":[{"id":"https://openalex.org/I141371507","display_name":"Soongsil University","ror":"https://ror.org/017xnm587","country_code":"KR","type":"education","lineage":["https://openalex.org/I141371507"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Donghun Lee","raw_affiliation_strings":["Department of Mechanical Engineering, Soongsil University, Seoul, Korea","[Department of Mechanical Engineering, Soongsil University, Seoul, Korea]"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Soongsil University, Seoul, Korea","institution_ids":["https://openalex.org/I141371507"]},{"raw_affiliation_string":"[Department of Mechanical Engineering, Soongsil University, Seoul, Korea]","institution_ids":["https://openalex.org/I141371507"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100856349","display_name":"Jayil Jeong","orcid":null},"institutions":[{"id":"https://openalex.org/I110273157","display_name":"Kookmin University","ror":"https://ror.org/0049erg63","country_code":"KR","type":"education","lineage":["https://openalex.org/I110273157"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jayil Jeong","raw_affiliation_strings":["School of Mechanical Engineering, Kookmin University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Kookmin University, Seoul, Korea","institution_ids":["https://openalex.org/I110273157"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100356559","display_name":"Jongwon Kim","orcid":"https://orcid.org/0000-0003-2519-6890"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jongwon Kim","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea","School of Mechanical and Aerospace Engineering Seoul National University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5063662731"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":2.4345,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.90027628,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"5076","last_page":"5081"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9965000152587891,"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":0.9965000152587891,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.9944000244140625,"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/actuator","display_name":"Actuator","score":0.7333651185035706},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.6350610852241516},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.6091159582138062},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5976821780204773},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.5307521820068359},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5304688215255737},{"id":"https://openalex.org/keywords/installation","display_name":"Installation","score":0.5299018025398254},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.5149360299110413},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48786306381225586},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.48581504821777344},{"id":"https://openalex.org/keywords/automotive-industry","display_name":"Automotive industry","score":0.4826936721801758},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.4805772304534912},{"id":"https://openalex.org/keywords/welding","display_name":"Welding","score":0.469896525144577},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.41477176547050476},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.41074544191360474},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40982913970947266},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40188083052635193},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39311790466308594},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2692270874977112},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15871912240982056},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14453920722007751},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.12502938508987427},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06768849492073059}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7333651185035706},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.6350610852241516},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.6091159582138062},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5976821780204773},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.5307521820068359},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5304688215255737},{"id":"https://openalex.org/C146778888","wikidata":"https://www.wikidata.org/wiki/Q836862","display_name":"Installation","level":2,"score":0.5299018025398254},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.5149360299110413},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48786306381225586},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.48581504821777344},{"id":"https://openalex.org/C526921623","wikidata":"https://www.wikidata.org/wiki/Q190117","display_name":"Automotive industry","level":2,"score":0.4826936721801758},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.4805772304534912},{"id":"https://openalex.org/C19474535","wikidata":"https://www.wikidata.org/wiki/Q131172","display_name":"Welding","level":2,"score":0.469896525144577},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.41477176547050476},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41074544191360474},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40982913970947266},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40188083052635193},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39311790466308594},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2692270874977112},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15871912240982056},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14453920722007751},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.12502938508987427},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06768849492073059},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6907603","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907603","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8600000143051147,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1916203309","https://openalex.org/W1987395322","https://openalex.org/W2003293704","https://openalex.org/W2015325293","https://openalex.org/W2029072982","https://openalex.org/W2050665102","https://openalex.org/W2076650116","https://openalex.org/W2091353356","https://openalex.org/W2105174847","https://openalex.org/W2110926800","https://openalex.org/W2142739407","https://openalex.org/W2683082250","https://openalex.org/W4238450364","https://openalex.org/W6640289379","https://openalex.org/W6740015559"],"related_works":["https://openalex.org/W1997122515","https://openalex.org/W2393977490","https://openalex.org/W2366856298","https://openalex.org/W2166323405","https://openalex.org/W2038930466","https://openalex.org/W2376007266","https://openalex.org/W2067594477","https://openalex.org/W2385739135","https://openalex.org/W1981988083","https://openalex.org/W2394251694"],"abstract_inverted_index":{"This":[0,28],"paper":[1],"covers":[2],"the":[3,18,22,32,38,73,86],"energy-saving":[4],"features":[5],"of":[6,20],"a":[7,47,60],"robotics":[8],"system":[9],"by":[10],"redundant":[11,52,74],"actuation.":[12],"By":[13],"installing":[14],"more":[15],"actuators":[16],"than":[17],"degrees":[19],"freedom,":[21],"actuating":[23],"torques":[24],"can":[25,30],"be":[26],"distributed":[27],"distribution":[29],"reduce":[31],"overall":[33,39],"energy":[34,40,81],"loss,":[35],"which":[36],"reduces":[37],"consumption.":[41],"An":[42],"experiment":[43],"was":[44],"conducted":[45],"with":[46],"2-DOF":[48],"general":[49,87],"manipulator":[50,75],"and":[51],"actuated":[53],"manipulator;":[54],"these":[55],"were":[56],"made":[57],"to":[58,78,85],"follow":[59],"typical":[61],"welding":[62],"pathway":[63],"used":[64],"in":[65],"an":[66],"automotive":[67],"factory.":[68],"The":[69],"results":[70],"showed":[71],"that":[72],"saved":[76],"up":[77],"38%":[79],"electrical":[80],"for":[82],"actuation":[83],"compared":[84],"manipulator.":[88]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}