{"id":"https://openalex.org/W2074473812","doi":"https://doi.org/10.1109/iros.2005.1545254","title":"Three-dimensional multi-joint reaching under redundancy of DOFs","display_name":"Three-dimensional multi-joint reaching under redundancy of DOFs","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W2074473812","doi":"https://doi.org/10.1109/iros.2005.1545254","mag":"2074473812"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2005.1545254","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545254","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5110461849","display_name":"S. Arimoto","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"S. Arimoto","raw_affiliation_strings":["Dept. of Robotics, Ritsumeikan Univ., Shiga, Japan","Department of Robotics, Ritsumeikan University, Kusatsu, Shiga, Japan"],"affiliations":[{"raw_affiliation_string":"Dept. of Robotics, Ritsumeikan Univ., Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Kusatsu, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060781152","display_name":"Masahiro Sekimoto","orcid":"https://orcid.org/0000-0003-2031-4309"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Sekimoto","raw_affiliation_strings":["Dept. of Robotics, Ritsumeikan Univ., Shiga, Japan","Department of Robotics, Ritsumeikan University, Kusatsu, Shiga, Japan"],"affiliations":[{"raw_affiliation_string":"Dept. of Robotics, Ritsumeikan Univ., Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Kusatsu, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062995411","display_name":"Ji\u2010Hun Bae","orcid":"https://orcid.org/0000-0002-7859-3091"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ji-Hun Bae","raw_affiliation_strings":["Department of Robotics, Kusatsu, Shiga, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Kusatsu, Shiga, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014490181","display_name":"Hiroe Hashiguchi","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Hashiguchi","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Kusatsu, Shiga, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Kusatsu, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5110461849"],"corresponding_institution_ids":["https://openalex.org/I135768898"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.13248384,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3523","last_page":"3529"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9976000189781189,"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":0.9966999888420105,"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":0.8122900724411011},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7655782699584961},{"id":"https://openalex.org/keywords/superposition-principle","display_name":"Superposition principle","score":0.5705128908157349},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5308530926704407},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5000874996185303},{"id":"https://openalex.org/keywords/angular-displacement","display_name":"Angular displacement","score":0.49610814452171326},{"id":"https://openalex.org/keywords/generalized-coordinates","display_name":"Generalized coordinates","score":0.4937034547328949},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.47923544049263},{"id":"https://openalex.org/keywords/sylvesters-law-of-inertia","display_name":"Sylvester's law of inertia","score":0.46410974860191345},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.442971795797348},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.43935877084732056},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.33574146032333374},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.28221070766448975},{"id":"https://openalex.org/keywords/eigenvalues-and-eigenvectors","display_name":"Eigenvalues and eigenvectors","score":0.26540088653564453},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.1772231161594391},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.17347452044487},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16210728883743286},{"id":"https://openalex.org/keywords/symmetric-matrix","display_name":"Symmetric matrix","score":0.1500203013420105}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8122900724411011},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7655782699584961},{"id":"https://openalex.org/C27753989","wikidata":"https://www.wikidata.org/wiki/Q284885","display_name":"Superposition principle","level":2,"score":0.5705128908157349},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5308530926704407},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5000874996185303},{"id":"https://openalex.org/C108439606","wikidata":"https://www.wikidata.org/wiki/Q3305038","display_name":"Angular displacement","level":2,"score":0.49610814452171326},{"id":"https://openalex.org/C105815890","wikidata":"https://www.wikidata.org/wiki/Q1057607","display_name":"Generalized coordinates","level":2,"score":0.4937034547328949},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.47923544049263},{"id":"https://openalex.org/C56828936","wikidata":"https://www.wikidata.org/wiki/Q1752621","display_name":"Sylvester's law of inertia","level":4,"score":0.46410974860191345},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.442971795797348},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.43935877084732056},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.33574146032333374},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.28221070766448975},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.26540088653564453},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.1772231161594391},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.17347452044487},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16210728883743286},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"score":0.1500203013420105},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2005.1545254","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545254","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W59013988","https://openalex.org/W89510016","https://openalex.org/W182531000","https://openalex.org/W1510918013","https://openalex.org/W1534098469","https://openalex.org/W1559907429","https://openalex.org/W1575214394","https://openalex.org/W1892385946","https://openalex.org/W1971482040","https://openalex.org/W1991541857","https://openalex.org/W2034389580","https://openalex.org/W2040913684","https://openalex.org/W2052280289","https://openalex.org/W2100476631","https://openalex.org/W2100790457","https://openalex.org/W2116623416","https://openalex.org/W2130260075","https://openalex.org/W2574896240","https://openalex.org/W4235914009","https://openalex.org/W6607499079"],"related_works":["https://openalex.org/W840922822","https://openalex.org/W4234131606","https://openalex.org/W292582153","https://openalex.org/W1974141195","https://openalex.org/W2385483360","https://openalex.org/W1968954906","https://openalex.org/W2316612812","https://openalex.org/W2358227862","https://openalex.org/W2004546183","https://openalex.org/W2268084029"],"abstract_inverted_index":{"A":[0],"simple":[1],"control":[2,47],"method":[3],"for":[4,60,75,83],"3-dimensional":[5],"multi-joint":[6],"reaching":[7],"movements":[8],"under":[9],"redundancy":[10],"of":[11,33,37,51,54,81,86,93,107,110,120],"Degrees-of-Freedom":[12],"is":[13,49,124,128],"proposed,":[14],"which":[15],"neither":[16],"need":[17,29],"to":[18,23,30,42,118,138,155],"introduce":[19],"any":[20,165],"performance":[21],"index":[22],"solve":[24],"inverse":[25],"kinematics":[26],"uniquely":[27],"nor":[28],"calculate":[31],"pseudo-inverse":[32],"the":[34,79,87,105,121,139,143,147,151,156],"Jacobian":[35],"matrix":[36,141],"task":[38],"coordinates":[39],"with":[40,67,102],"respect":[41],"joint":[43],"coordinates.":[44],"The":[45],"proposed":[46],"signal":[48],"composed":[50],"linear":[52],"superposition":[53],"three":[55],"terms:":[56],"1)":[57],"angular-velocity":[58],"feedback":[59,66],"damping":[61,111,132],"shaping;":[62],"2)":[63],"task-space":[64],"position":[65,158],"a":[68,91,98],"single":[69],"stiffness":[70,122,148],"parameter;":[71],"and":[72,146,159],"3)":[73],"compensation":[74],"gravity":[76],"force":[77],"on":[78],"basis":[80],"estimates":[82],"uncertain":[84],"parameters":[85],"potential":[88],"energy.":[89],"Through":[90],"variety":[92],"computer":[94],"simulations":[95],"by":[96],"using":[97],"whole":[99],"arm":[100],"model":[101],"five":[103],"DOFs,":[104],"importance":[106],"synergistic":[108],"adjustments":[109],"factors":[112,133],"as":[113,115],"well":[114],"its":[116],"relation":[117],"selection":[119],"parameter":[123,149],"pointed":[125],"out.":[126],"It":[127],"shown":[129],"that":[130],"if":[131],"are":[134],"chosen":[135],"synergistically":[136],"corresponding":[137],"inertia":[140],"at":[142],"initial":[144],"time":[145],"then":[150],"endpoint":[152],"converges":[153],"asymptotically":[154],"target":[157],"reaches":[160],"it":[161],"smoothly":[162],"without":[163],"incurring":[164],"self-motion.":[166]},"counts_by_year":[{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}