{"id":"https://openalex.org/W2116326280","doi":"https://doi.org/10.1109/iros.2004.1390028","title":"Global RAC-measure for redundancy solution of human-like manipulator mounted on flexible body","display_name":"Global RAC-measure for redundancy solution of human-like manipulator mounted on flexible body","publication_year":2005,"publication_date":"2005-04-12","ids":{"openalex":"https://openalex.org/W2116326280","doi":"https://doi.org/10.1109/iros.2004.1390028","mag":"2116326280"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2004.1390028","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1390028","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5018570365","display_name":"Jun Ueda","orcid":"https://orcid.org/0000-0001-7807-6863"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Ueda","raw_affiliation_strings":["Nara Institute of Science arid Technology (NAIST), Graduate School of Information Science, Nara, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nara Institute of Science arid Technology (NAIST), Graduate School of Information Science, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044340470","display_name":"Tsukasa Ogasawara","orcid":"https://orcid.org/0000-0001-9767-6039"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Ogasawara","raw_affiliation_strings":["Nara Institute of Science arid Technology (NAIST), Graduate School of Information Science, Nara, Japan","Nara Institute of Science and Technology , Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nara Institute of Science arid Technology (NAIST), Graduate School of Information Science, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Nara Institute of Science and Technology , Japan","institution_ids":["https://openalex.org/I75917431"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I75917431"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"4","issue":null,"first_page":"3930","last_page":"3935"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","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"}},"topics":[{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9979000091552734,"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":0.9945999979972839,"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/redundancy","display_name":"Redundancy (engineering)","score":0.7917968034744263},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7596125602722168},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.6283278465270996},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.6252164244651794},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6011836528778076},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5702196359634399},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43167099356651306},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.41555556654930115},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29714837670326233},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21471521258354187},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21010157465934753},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1547006070613861},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10172390937805176}],"concepts":[{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.7917968034744263},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7596125602722168},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.6283278465270996},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.6252164244651794},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6011836528778076},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5702196359634399},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43167099356651306},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.41555556654930115},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29714837670326233},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21471521258354187},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21010157465934753},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1547006070613861},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10172390937805176},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2004.1390028","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1390028","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8500000238418579,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1570330619","https://openalex.org/W1642718382","https://openalex.org/W1877231297","https://openalex.org/W1972048784","https://openalex.org/W1995090200","https://openalex.org/W2016599545","https://openalex.org/W2068027769","https://openalex.org/W2097081452","https://openalex.org/W2103610162","https://openalex.org/W2105081710","https://openalex.org/W2128439950","https://openalex.org/W2132321400","https://openalex.org/W2141153412","https://openalex.org/W2159559217","https://openalex.org/W2171025682","https://openalex.org/W6636916698"],"related_works":["https://openalex.org/W4255837520","https://openalex.org/W2387011115","https://openalex.org/W4255628145","https://openalex.org/W2382043075","https://openalex.org/W2809151339","https://openalex.org/W2808854221","https://openalex.org/W2770593030","https://openalex.org/W4244134337","https://openalex.org/W2283715810","https://openalex.org/W3006764516"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"the":[3,30,33,36,50,56,60,70,87,98,114],"global":[4,71],"RAC-measure":[5,79],"is":[6,46,89,119],"proposed":[7,67,99],"to":[8,48],"a":[9,14,18,92,102,104,122,127,135],"redundant":[10,51,131],"manipulator":[11,34,57,88,132],"mounted":[12,133],"on":[13,59,97,134],"flexible":[15,37,138],"body":[16,38],"for":[17,80,91,126],"task-space":[19],"feedback":[20],"control.":[21],"The":[22,44,66,84,117],"tip":[23,94,106],"control":[24,108],"should":[25],"be":[26,110],"carefully":[27],"designed":[28],"when":[29],"dynamics":[31],"of":[32,53,55,73,86],"and":[35],"are":[39],"coupled":[40],"such":[41],"as":[42],"humanoids.":[43],"measure":[45,68],"used":[47],"determine":[49],"degrees":[52],"freedom":[54],"based":[58,96],"RAC":[61],"(robust":[62],"arm":[63,74],"configuration)":[64],"concept.":[65],"evaluates":[69],"robustness":[72],"configuration":[75],"by":[76,121],"mixing":[77],"each":[78],"individual":[81],"vibration":[82],"mode.":[83],"redundancy":[85],"determined":[90],"desired":[93],"trajectory":[95],"measure.":[100],"As":[101],"result,":[103],"high-gain":[105],"position":[107],"can":[109],"applied":[111],"without":[112],"considering":[113],"base":[115],"flexibility.":[116],"validity":[118],"confirmed":[120],"feedback-based":[123],"continuous":[124],"tracking":[125],"4":[128],"DOF":[129,137],"human-like":[130],"3":[136],"body.":[139]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
