{"id":"https://openalex.org/W2144450478","doi":"https://doi.org/10.1109/irds.2002.1044044","title":"Actuator selection for desired dynamic performance","display_name":"Actuator selection for desired dynamic performance","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2144450478","doi":"https://doi.org/10.1109/irds.2002.1044044","mag":"2144450478"},"language":"en","primary_location":{"id":"doi:10.1109/irds.2002.1044044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1044044","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and System","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/A5078432220","display_name":"Alan Bowling","orcid":"https://orcid.org/0000-0002-4861-3303"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Bowling","raw_affiliation_strings":["University of Notre Dame, Notre Dame, IN, USA","Notre Dame Univ., IN (USA)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Notre Dame, Notre Dame, IN, USA","institution_ids":["https://openalex.org/I107639228"]},{"raw_affiliation_string":"Notre Dame Univ., IN (USA)","institution_ids":["https://openalex.org/I107639228"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051336665","display_name":"Oussama Khatib","orcid":"https://orcid.org/0000-0003-0482-1415"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"O. Khatib","raw_affiliation_strings":["Standford University, Stanford, CA, USA","Notre Dame Univ., IN (USA)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Standford University, Stanford, CA, USA","institution_ids":[]},{"raw_affiliation_string":"Notre Dame Univ., IN (USA)","institution_ids":["https://openalex.org/I107639228"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I107639228"],"apc_list":null,"apc_paid":null,"fwci":5.7341,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.95534613,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"1966","last_page":"1973"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9952999949455261,"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/actuator","display_name":"Actuator","score":0.8630255460739136},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7811791896820068},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.7351287007331848},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6401140093803406},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5932993292808533},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.503879964351654},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4697335660457611},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46090826392173767},{"id":"https://openalex.org/keywords/dynamic-equation","display_name":"Dynamic equation","score":0.43065282702445984},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.42602166533470154},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34280139207839966},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12752309441566467},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12264466285705566},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10477828979492188},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09489130973815918}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8630255460739136},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7811791896820068},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.7351287007331848},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6401140093803406},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5932993292808533},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.503879964351654},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4697335660457611},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46090826392173767},{"id":"https://openalex.org/C2989370511","wikidata":"https://www.wikidata.org/wiki/Q18381590","display_name":"Dynamic equation","level":3,"score":0.43065282702445984},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.42602166533470154},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34280139207839966},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12752309441566467},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12264466285705566},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10477828979492188},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09489130973815918},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/irds.2002.1044044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1044044","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and System","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.7799999713897705}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1871534445","https://openalex.org/W1980232872","https://openalex.org/W2022758391","https://openalex.org/W2039907488","https://openalex.org/W2055406233","https://openalex.org/W2066379939","https://openalex.org/W2084770290","https://openalex.org/W2109776618","https://openalex.org/W2115963790","https://openalex.org/W2152882024","https://openalex.org/W2166119580","https://openalex.org/W2171025682","https://openalex.org/W2296280963","https://openalex.org/W3152344982","https://openalex.org/W6793853807"],"related_works":["https://openalex.org/W1989791859","https://openalex.org/W2007221537","https://openalex.org/W2390829436","https://openalex.org/W1971289376","https://openalex.org/W2490690736","https://openalex.org/W2080330449","https://openalex.org/W2099333796","https://openalex.org/W2565094479","https://openalex.org/W602859758","https://openalex.org/W2169474978"],"abstract_inverted_index":{"This":[0,95],"article":[1,96],"presents":[2],"two":[3],"methods":[4],"for":[5,100,107],"selecting":[6],"actuators":[7],"based":[8],"on":[9,57],"the":[10,45,52,55,69,76],"dynamic":[11,23,26,62],"loading":[12],"criteria,":[13],"which":[14,39],"yield":[15],"a":[16,19,33,89,101],"manipulator":[17],"with":[18],"desired":[20],"level":[21],"of":[22,32],"performance.":[24],"Here,":[25],"performance":[27],"is":[28],"measured":[29],"in":[30,88],"terms":[31],"robot's":[34],"acceleration":[35,77],"and":[36,47,75,78,85,91],"force":[37,79],"capabilities,":[38,80],"describe":[40],"its":[41,58],"ability":[42],"to":[43,48,51,67],"accelerate":[44],"end-effector":[46],"apply":[49],"forces":[50],"environment,":[53],"given":[54],"limitations":[56],"actuator":[59,72,98],"torques.":[60],"The":[61],"capability":[63],"equations":[64],"are":[65],"used":[66],"model":[68],"relationship":[70],"between":[71],"torque":[73],"capacities":[74],"because":[81],"they":[82],"treat":[83],"linear":[84],"angular":[86],"quantities":[87],"consistent":[90],"physically":[92],"meaningful":[93],"way.":[94],"discusses":[97],"selection":[99],"single":[102],"configuration,":[103],"as":[104,106],"well":[105],"multiple":[108],"configurations.":[109]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
