{"id":"https://openalex.org/W1528316309","doi":"https://doi.org/10.1109/icra.2015.7139305","title":"SEA force/torque servo control with model-based robust motion control and link-side motion feedback","display_name":"SEA force/torque servo control with model-based robust motion control and link-side motion feedback","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1528316309","doi":"https://doi.org/10.1109/icra.2015.7139305","mag":"1528316309"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139305","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139305","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 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/A5029139911","display_name":"Sunkyum Yoo","orcid":"https://orcid.org/0000-0002-9486-8083"},"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":"Sunkyum Yoo","raw_affiliation_strings":["Robotics Laboratory, Pohang University of Science and Technology(POSTECH), Po-hang, Republic of Korea","Robotics Laboratory, School of Mechanical Engineering, Pohang University of Science and Technology(POSTECH), 790-784, Gyeongsangbuk-do, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Robotics Laboratory, Pohang University of Science and Technology(POSTECH), Po-hang, Republic of Korea","institution_ids":["https://openalex.org/I123900574"]},{"raw_affiliation_string":"Robotics Laboratory, School of Mechanical Engineering, Pohang University of Science and Technology(POSTECH), 790-784, Gyeongsangbuk-do, Republic of Korea","institution_ids":["https://openalex.org/I123900574"]}]},{"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":["Robotics Laboratory, Pohang University of Science and Technology(POSTECH), Po-hang, Republic of Korea","Robotics Laboratory, School of Mechanical Engineering, Pohang University of Science and Technology(POSTECH), 790-784, Gyeongsangbuk-do, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Robotics Laboratory, Pohang University of Science and Technology(POSTECH), Po-hang, Republic of Korea","institution_ids":["https://openalex.org/I123900574"]},{"raw_affiliation_string":"Robotics Laboratory, School of Mechanical Engineering, Pohang University of Science and Technology(POSTECH), 790-784, Gyeongsangbuk-do, Republic of Korea","institution_ids":["https://openalex.org/I123900574"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5029139911"],"corresponding_institution_ids":["https://openalex.org/I123900574"],"apc_list":null,"apc_paid":null,"fwci":1.9473,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.84750778,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"14","issue":null,"first_page":"1042","last_page":"1048"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9947999715805054,"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":0.9729999899864197,"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":0.8435084223747253},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7621411681175232},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6613228917121887},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.6001878976821899},{"id":"https://openalex.org/keywords/servo-control","display_name":"Servo control","score":0.5615134835243225},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.5458597540855408},{"id":"https://openalex.org/keywords/rotary-actuator","display_name":"Rotary actuator","score":0.4752333462238312},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.45736536383628845},{"id":"https://openalex.org/keywords/plant","display_name":"Plant","score":0.4198853373527527},{"id":"https://openalex.org/keywords/rotation-around-a-fixed-axis","display_name":"Rotation around a fixed axis","score":0.4166696071624756},{"id":"https://openalex.org/keywords/servo-bandwidth","display_name":"Servo bandwidth","score":0.41363441944122314},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.4113205373287201},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4012061357498169},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3979233503341675},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23336085677146912},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10395726561546326},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09297934174537659},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08734995126724243},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.06472811102867126},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.062326282262802124}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8435084223747253},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7621411681175232},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6613228917121887},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.6001878976821899},{"id":"https://openalex.org/C32731416","wikidata":"https://www.wikidata.org/wiki/Q7455930","display_name":"Servo control","level":3,"score":0.5615134835243225},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.5458597540855408},{"id":"https://openalex.org/C110682481","wikidata":"https://www.wikidata.org/wiki/Q7370260","display_name":"Rotary actuator","level":3,"score":0.4752333462238312},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.45736536383628845},{"id":"https://openalex.org/C127205110","wikidata":"https://www.wikidata.org/wiki/Q639588","display_name":"Plant","level":3,"score":0.4198853373527527},{"id":"https://openalex.org/C6342182","wikidata":"https://www.wikidata.org/wiki/Q2995427","display_name":"Rotation around a fixed axis","level":2,"score":0.4166696071624756},{"id":"https://openalex.org/C132808900","wikidata":"https://www.wikidata.org/wiki/Q17126463","display_name":"Servo bandwidth","level":4,"score":0.41363441944122314},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.4113205373287201},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4012061357498169},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3979233503341675},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23336085677146912},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10395726561546326},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09297934174537659},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08734995126724243},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.06472811102867126},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.062326282262802124},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139305","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139305","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W74807133","https://openalex.org/W1521257674","https://openalex.org/W1829015105","https://openalex.org/W1964064577","https://openalex.org/W1965721730","https://openalex.org/W2017766931","https://openalex.org/W2059721481","https://openalex.org/W2090143038","https://openalex.org/W2111253117","https://openalex.org/W2111898076","https://openalex.org/W2116767351","https://openalex.org/W2126728198","https://openalex.org/W2136715573","https://openalex.org/W2149001011","https://openalex.org/W2164472100","https://openalex.org/W2166230296","https://openalex.org/W2336819004","https://openalex.org/W6603098663","https://openalex.org/W6631331923","https://openalex.org/W6638425340","https://openalex.org/W6682160611","https://openalex.org/W6703670872"],"related_works":["https://openalex.org/W2546583032","https://openalex.org/W2133368191","https://openalex.org/W2334414976","https://openalex.org/W2502316694","https://openalex.org/W2088750708","https://openalex.org/W1970891665","https://openalex.org/W2014499177","https://openalex.org/W2133614587","https://openalex.org/W2188881366","https://openalex.org/W2015934279"],"abstract_inverted_index":{"A":[0],"series":[1],"elastic":[2],"actuator":[3,69,77],"(SEA)":[4],"consists":[5,115],"of":[6,18,89,116],"a":[7,80,138,152],"system":[8],"with":[9,129],"an":[10,90,109],"intrinsically":[11],"compliant":[12],"mechanism,":[13],"and":[14,22,35,51,68,121,142,155],"introduces":[15],"the":[16,59,76,85,143,147],"possibility":[17],"external":[19],"force/torque":[20,111],"sensing":[21],"control.":[23],"However,":[24],"this":[25],"mechanism":[26],"is":[27,56,63],"also":[28],"known":[29],"to":[30,36,46,57],"reduce":[31],"torque":[32,134],"servo-control":[33],"bandwidth":[34,50,88,154],"separate":[37],"link-side":[38,95,122],"dynamics":[39],"from":[40],"actuator-side":[41,117],"dynamics.":[42],"The":[43],"conventional":[44,130],"solution":[45],"overcoming":[47],"reduced":[48],"actuation":[49,87],"separated":[52,94],"link":[53,158],"motion":[54,96,119,123],"problems":[55,67],"increase":[58],"control":[60,120,136,149],"gain,":[61],"which":[62],"limited":[64],"by":[65],"stability":[66],"saturation.":[70],"Here,":[71],"we":[72,107],"demonstrate":[73],"that":[74,93,114,146],"treating":[75],"side":[78],"as":[79],"near-ideal":[81],"position":[82],"source":[83],"gives":[84],"compliance-independent":[86],"SEA,":[91],"so":[92],"can":[97],"be":[98],"simply":[99],"but":[100],"effectively":[101],"compensated.":[102],"Based":[103],"on":[104],"these":[105],"observations,":[106],"developed":[108],"SEA":[110,133],"servo":[112,135],"controller":[113],"robust":[118,157],"feedback.":[124],"We":[125],"performed":[126],"comparison":[127],"experiments":[128],"cascaded":[131],"two-loop":[132],"using":[137],"rotational":[139],"flexible-joint":[140],"test-bed,":[141],"results":[144],"demonstrated":[145],"proposed":[148],"strategy":[150],"yields":[151],"wider":[153],"more":[156],"motion.":[159]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}