{"id":"https://openalex.org/W2278162093","doi":"https://doi.org/10.1109/iecon.2015.7392757","title":"Command shaping with transition of state for smooth force control","display_name":"Command shaping with transition of state for smooth force control","publication_year":2015,"publication_date":"2015-11-01","ids":{"openalex":"https://openalex.org/W2278162093","doi":"https://doi.org/10.1109/iecon.2015.7392757","mag":"2278162093"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2015.7392757","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2015.7392757","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/A5111702862","display_name":"Tomoki Kono","orcid":null},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomoki Kono","raw_affiliation_strings":["Department of System Design Engineering, Keio University, Yokohama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014390830","display_name":"Seiichiro Katsura","orcid":"https://orcid.org/0000-0002-7487-0610"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Seiichiro Katsura","raw_affiliation_strings":["Department of System Design Engineering, Keio University, Yokohama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14052643,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"004217","last_page":"004222"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9998000264167786,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9984999895095825,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7070420980453491},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6259678602218628},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5937008261680603},{"id":"https://openalex.org/keywords/discontinuity","display_name":"Discontinuity (linguistics)","score":0.5526729226112366},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5311440825462341},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5262089371681213},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5202397108078003},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5189428329467773},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5187897086143494},{"id":"https://openalex.org/keywords/transition","display_name":"Transition (genetics)","score":0.48923707008361816},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37730202078819275},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13065770268440247},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11661803722381592},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.06010875105857849}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7070420980453491},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6259678602218628},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5937008261680603},{"id":"https://openalex.org/C2777042112","wikidata":"https://www.wikidata.org/wiki/Q5281658","display_name":"Discontinuity (linguistics)","level":2,"score":0.5526729226112366},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5311440825462341},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5262089371681213},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5202397108078003},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5189428329467773},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5187897086143494},{"id":"https://openalex.org/C194232998","wikidata":"https://www.wikidata.org/wiki/Q1606712","display_name":"Transition (genetics)","level":3,"score":0.48923707008361816},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37730202078819275},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13065770268440247},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11661803722381592},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.06010875105857849},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon.2015.7392757","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2015.7392757","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":"Peace, Justice and strong institutions","score":0.75,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320325628","display_name":"Ministry of Internal Affairs and Communications","ror":"https://ror.org/00vs1pz50"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1967445069","https://openalex.org/W1979349468","https://openalex.org/W1989162056","https://openalex.org/W2008437088","https://openalex.org/W2032577978","https://openalex.org/W2046756261","https://openalex.org/W2093144649","https://openalex.org/W2096322288","https://openalex.org/W2096323098","https://openalex.org/W2098898086","https://openalex.org/W2102279668","https://openalex.org/W2103221771","https://openalex.org/W2112474089","https://openalex.org/W2143735111","https://openalex.org/W2146231255","https://openalex.org/W2157332596","https://openalex.org/W2166070098","https://openalex.org/W2299003779","https://openalex.org/W2402376955","https://openalex.org/W4242059591"],"related_works":["https://openalex.org/W1702821","https://openalex.org/W1484056900","https://openalex.org/W4244584856","https://openalex.org/W2127980043","https://openalex.org/W1989965977","https://openalex.org/W1179533853","https://openalex.org/W2372950632","https://openalex.org/W1521667","https://openalex.org/W2136634899","https://openalex.org/W2585996307"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,19,41,50,54,61,99,119,140,155],"design":[4],"method":[5,96,109,168],"of":[6,11,34,40,91,112,121,165],"command":[7,14,55,66,75,100,122],"compensator":[8],"with":[9,58,137],"transition":[10,111],"state":[12],"for":[13],"shaping.":[15],"In":[16,29,143],"the":[17,65,74,94,107,116,126,144,166],"future,":[18],"robot":[20,42,51],"is":[21,37,47,67,70,80,123,161,169],"required":[22],"to":[23,153],"be":[24,133],"introduced":[25],"in":[26,56,135,151],"human":[27],"society.":[28],"this":[30],"case,":[31],"force":[32,128,146],"control":[33,43,62,129,141,147],"high":[35],"performance":[36],"important":[38,48],"element":[39],"system.":[44],"Moreover,":[45,106],"it":[46,79],"that":[49,73],"automatically":[52],"changes":[53],"accordance":[57,136],"circumstances":[59,138],"and":[60,104,125,130,139,159],"specification.":[63,142],"When":[64],"changed,":[68],"there":[69],"some":[71,149],"possibility":[72],"becomes":[76],"discontinuous.":[77],"Then,":[78],"dangerous":[81],"because":[82],"robots":[83],"might":[84],"do":[85],"unexpected":[86],"motion":[87,131,157],"or":[88],"become":[89],"out":[90],"control.":[92],"Therefore,":[93],"proposed":[95,108,117,167],"focuses":[97],"on":[98],"difference":[101],"between":[102],"pre-transition":[103],"post-transition.":[105],"considers":[110],"state.":[113],"By":[114],"using":[115],"method,":[118],"discontinuity":[120],"solved":[124],"smooth":[127],"can":[132],"realized":[134],"experiments,":[145],"having":[148],"commands":[150],"order":[152],"realize":[154],"pushing":[156],"stably":[158],"repeatedly":[160],"applied.":[162],"The":[163],"validity":[164],"confirmed":[170],"through":[171],"experiments.":[172]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}