{"id":"https://openalex.org/W2278975409","doi":"https://doi.org/10.1109/iecon.2015.7392300","title":"Equivalence of resonance ratio and I-PD controllers in zero stiffness torque control for soft robot","display_name":"Equivalence of resonance ratio and I-PD controllers in zero stiffness torque control for soft robot","publication_year":2015,"publication_date":"2015-11-01","ids":{"openalex":"https://openalex.org/W2278975409","doi":"https://doi.org/10.1109/iecon.2015.7392300","mag":"2278975409"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2015.7392300","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2015.7392300","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society","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/A5103149407","display_name":"Yusuke Kawai","orcid":"https://orcid.org/0000-0001-5362-0033"},"institutions":[{"id":"https://openalex.org/I85922643","display_name":"Nagaoka University of Technology","ror":"https://ror.org/00ys1hz88","country_code":"JP","type":"education","lineage":["https://openalex.org/I85922643"]},{"id":"https://openalex.org/I119806805","display_name":"Nagaoka University","ror":"https://ror.org/02rcadd38","country_code":"JP","type":"education","lineage":["https://openalex.org/I119806805"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yusuke Kawai","raw_affiliation_strings":["Nagaoka University of Technology, Nagaoka, Niigata, JAPAN"],"affiliations":[{"raw_affiliation_string":"Nagaoka University of Technology, Nagaoka, Niigata, JAPAN","institution_ids":["https://openalex.org/I119806805","https://openalex.org/I85922643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032516251","display_name":"Yuki Yokokura","orcid":"https://orcid.org/0000-0003-1550-268X"},"institutions":[{"id":"https://openalex.org/I85922643","display_name":"Nagaoka University of Technology","ror":"https://ror.org/00ys1hz88","country_code":"JP","type":"education","lineage":["https://openalex.org/I85922643"]},{"id":"https://openalex.org/I119806805","display_name":"Nagaoka University","ror":"https://ror.org/02rcadd38","country_code":"JP","type":"education","lineage":["https://openalex.org/I119806805"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuki Yokokura","raw_affiliation_strings":["Nagaoka University of Technology, Nagaoka, Niigata, JAPAN"],"affiliations":[{"raw_affiliation_string":"Nagaoka University of Technology, Nagaoka, Niigata, JAPAN","institution_ids":["https://openalex.org/I119806805","https://openalex.org/I85922643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067026996","display_name":"Kiyoshi Ohishi","orcid":"https://orcid.org/0000-0001-8662-1745"},"institutions":[{"id":"https://openalex.org/I85922643","display_name":"Nagaoka University of Technology","ror":"https://ror.org/00ys1hz88","country_code":"JP","type":"education","lineage":["https://openalex.org/I85922643"]},{"id":"https://openalex.org/I119806805","display_name":"Nagaoka University","ror":"https://ror.org/02rcadd38","country_code":"JP","type":"education","lineage":["https://openalex.org/I119806805"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kiyoshi Ohishi","raw_affiliation_strings":["Nagaoka University of Technology, Nagaoka, Niigata, JAPAN"],"affiliations":[{"raw_affiliation_string":"Nagaoka University of Technology, Nagaoka, Niigata, JAPAN","institution_ids":["https://openalex.org/I119806805","https://openalex.org/I85922643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103034223","display_name":"Kotaro Saito","orcid":"https://orcid.org/0000-0002-4195-7648"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kotaro Saito","raw_affiliation_strings":["Unipulse Corporation, Chuo-ku, Tokyo, JAPAN"],"affiliations":[{"raw_affiliation_string":"Unipulse Corporation, Chuo-ku, Tokyo, JAPAN","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020178017","display_name":"Atsushi Shimamoto","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Atsushi Shimamoto","raw_affiliation_strings":["Unipulse Corporation, Chuo-ku, Tokyo, JAPAN"],"affiliations":[{"raw_affiliation_string":"Unipulse Corporation, Chuo-ku, Tokyo, JAPAN","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5103149407"],"corresponding_institution_ids":["https://openalex.org/I119806805","https://openalex.org/I85922643"],"apc_list":null,"apc_paid":null,"fwci":0.308,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.6469099,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"116","issue":null,"first_page":"001424","last_page":"001429"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.9991000294685364,"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/T13644","display_name":"Control Systems in Engineering","score":0.9991000294685364,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.986299991607666,"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/T12206","display_name":"Vibration and Dynamic Analysis","score":0.9674999713897705,"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":0.7686723470687866},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7684906721115112},{"id":"https://openalex.org/keywords/damping-torque","display_name":"Damping torque","score":0.5987750887870789},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4654116928577423},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4549938142299652},{"id":"https://openalex.org/keywords/direct-torque-control","display_name":"Direct torque control","score":0.4261317551136017},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3783276677131653},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.34929317235946655},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3327970504760742},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18268781900405884},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.12022256851196289},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07003846764564514}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7686723470687866},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7684906721115112},{"id":"https://openalex.org/C40226289","wikidata":"https://www.wikidata.org/wiki/Q5212950","display_name":"Damping torque","level":5,"score":0.5987750887870789},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4654116928577423},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4549938142299652},{"id":"https://openalex.org/C109871850","wikidata":"https://www.wikidata.org/wiki/Q1227571","display_name":"Direct torque control","level":4,"score":0.4261317551136017},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3783276677131653},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.34929317235946655},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3327970504760742},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18268781900405884},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.12022256851196289},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07003846764564514},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C80962145","wikidata":"https://www.wikidata.org/wiki/Q207450","display_name":"Induction motor","level":3,"score":0.0},{"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/iecon.2015.7392300","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2015.7392300","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1986054213","https://openalex.org/W2312376502","https://openalex.org/W2316773935","https://openalex.org/W2319205242","https://openalex.org/W2331115923","https://openalex.org/W2331335960","https://openalex.org/W2507189715","https://openalex.org/W2508080398"],"related_works":["https://openalex.org/W2373410575","https://openalex.org/W2107398868","https://openalex.org/W2328640053","https://openalex.org/W1567726301","https://openalex.org/W4321062773","https://openalex.org/W2158120472","https://openalex.org/W3014451371","https://openalex.org/W2616586521","https://openalex.org/W3113939018","https://openalex.org/W3114003892"],"abstract_inverted_index":{"Recently,":[0],"a":[1,22,35,52,57,63],"soft":[2,23,36,53],"robot":[3,24,37,54],"considering":[4],"the":[5,8,14,28,43,85,106],"contact":[6],"of":[7,34,51,108],"human":[9],"has":[10],"attracted":[11],"attention,":[12],"and":[13,48,89],"zero":[15],"stiffness":[16],"torque":[17,49,59,76,102,109],"control":[18,33,47,50,68,77,113],"is":[19,38,114],"required.":[20,39],"Because":[21],"causes":[25],"vibration":[26,31],"at":[27],"load":[29],"side,":[30],"suppression":[32],"In":[40],"this":[41],"paper,":[42],"authors":[44],"discuss":[45],"position":[46],"by":[55],"using":[56],"torsion":[58],"sensor":[60],"based":[61],"on":[62],"resonance":[64,90,111],"ratio":[65,91,112],"control.":[66,103,118],"Position":[67],"can":[69],"be":[70,79],"used":[71,80],"to":[72,81,99,116],"design":[73,82],"parameters.":[74],"However,":[75],"cannot":[78],"parameters":[83],"because":[84],"proportional":[86],"gain":[87,92],"Kp":[88],"Kr":[93],"are":[94],"not":[95],"independent":[96],"with":[97],"regard":[98],"integral-proportional":[100],"differential(I-PD)":[101],"Therefore,":[104],"in":[105],"case":[107],"control,":[110],"equivalent":[115],"I-PD":[117]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}