{"id":"https://openalex.org/W2159058948","doi":"https://doi.org/10.1109/iros.2011.6094628","title":"Dynamics identification of industrial robots using contact force for the IDCS control","display_name":"Dynamics identification of industrial robots using contact force for the IDCS control","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2159058948","doi":"https://doi.org/10.1109/iros.2011.6094628","mag":"2159058948"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094628","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094628","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5109495650","display_name":"Kengo Aoki","orcid":null},"institutions":[{"id":"https://openalex.org/I92614990","display_name":"Tokyo University of Agriculture and Technology","ror":"https://ror.org/00qg0kr10","country_code":"JP","type":"education","lineage":["https://openalex.org/I92614990"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Aoki","raw_affiliation_strings":["Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, Koganei, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, Koganei, Tokyo, Japan","institution_ids":["https://openalex.org/I92614990"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076587308","display_name":"Gentiane Venture","orcid":"https://orcid.org/0000-0001-7767-4765"},"institutions":[{"id":"https://openalex.org/I92614990","display_name":"Tokyo University of Agriculture and Technology","ror":"https://ror.org/00qg0kr10","country_code":"JP","type":"education","lineage":["https://openalex.org/I92614990"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"G. Venture","raw_affiliation_strings":["Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, Koganei, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, Koganei, Tokyo, Japan","institution_ids":["https://openalex.org/I92614990"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045647918","display_name":"Yasutaka TAGAWA","orcid":"https://orcid.org/0000-0001-8611-0857"},"institutions":[{"id":"https://openalex.org/I92614990","display_name":"Tokyo University of Agriculture and Technology","ror":"https://ror.org/00qg0kr10","country_code":"JP","type":"education","lineage":["https://openalex.org/I92614990"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Tagawa","raw_affiliation_strings":["Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, Koganei, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, Koganei, Tokyo, Japan","institution_ids":["https://openalex.org/I92614990"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I92614990"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4710","last_page":"4715"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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":0.9997000098228455,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9997000098228455,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9994999766349792,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7940194606781006},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6799877285957336},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6450456380844116},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.6086174249649048},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5395123362541199},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.5337969064712524},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5152883529663086},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5118290781974792},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4984414577484131},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48822644352912903},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46096110343933105},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4331289529800415},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4112468957901001},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36448174715042114},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31145286560058594},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2724750339984894},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22683078050613403},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1478058397769928},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10854756832122803},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.10607612133026123},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.0729491114616394}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7940194606781006},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6799877285957336},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6450456380844116},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.6086174249649048},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5395123362541199},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5337969064712524},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5152883529663086},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5118290781974792},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4984414577484131},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48822644352912903},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46096110343933105},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4331289529800415},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4112468957901001},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36448174715042114},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31145286560058594},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2724750339984894},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22683078050613403},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1478058397769928},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10854756832122803},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.10607612133026123},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0729491114616394},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/iros.2011.6094628","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094628","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1985352571","https://openalex.org/W2016406346","https://openalex.org/W2022039540","https://openalex.org/W2097687117","https://openalex.org/W2110533660","https://openalex.org/W2124920188","https://openalex.org/W2138113005","https://openalex.org/W2167354091","https://openalex.org/W4298374003"],"related_works":["https://openalex.org/W2161681971","https://openalex.org/W2172182590","https://openalex.org/W2197323063","https://openalex.org/W2142476074","https://openalex.org/W3200364395","https://openalex.org/W2221071558","https://openalex.org/W2104832047","https://openalex.org/W2885663867","https://openalex.org/W2074309356","https://openalex.org/W2067373051"],"abstract_inverted_index":{"We":[0,50,85],"propose":[1],"a":[2,7,11,26],"fast":[3],"motion":[4],"controller":[5,56,72,77],"for":[6,94],"robot":[8,59,93],"which":[9,23],"has":[10],"flexible":[12],"arm":[13,60],"using":[14,104],"the":[15,30,34,43,54,58,63,66,69,80,83,92,95,101,108,110,114],"IDCS":[16,20,55,67,96],"control":[17,21,40],"scheme.":[18],"The":[19],"scheme,":[22],"corresponds":[24],"to":[25,57,68,78],"numerical":[27],"computation":[28],"of":[29,33,65,82,91,99,107],"inverse":[31],"dynamics":[32],"systems,":[35],"allows":[36],"stable":[37],"high":[38],"performance":[39],"even":[41],"when":[42],"system":[44],"model":[45,90],"is":[46],"known":[47],"with":[48],"inaccuracies.":[49],"applied":[51],"in":[52],"simulation":[53,89],"and":[61,113],"compared":[62],"performances":[64,81],"most":[70],"commonly":[71],"used":[73],"industrial":[74],"robots:":[75],"PID":[76],"consider":[79],"IDCS.":[84],"can":[86],"get":[87],"good":[88],"by":[97],"means":[98],"identifying":[100],"inertial":[102],"parameters":[103],"generalized":[105],"coordinates":[106],"baselink,":[109],"joint":[111],"angles":[112],"external":[115],"forces":[116],"information.":[117]},"counts_by_year":[{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}