{"id":"https://openalex.org/W1993508655","doi":"https://doi.org/10.1109/iros.2013.6696764","title":"Design of an antagonistically counter-balancing parallel mechanism","display_name":"Design of an antagonistically counter-balancing parallel mechanism","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W1993508655","doi":"https://doi.org/10.1109/iros.2013.6696764","mag":"1993508655"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696764","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696764","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5016185675","display_name":"Jong-Tae Seo","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jong-Tae Seo","raw_affiliation_strings":["Department of Mechatronics Engineering, Hanyang University, Ansan, Korea","Dept. of Mechatron. Eng., Hanyang Univ., Ansan, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, Hanyang University, Ansan, Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Dept. of Mechatron. Eng., Hanyang Univ., Ansan, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060393646","display_name":"Jae Hong Woo","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jae Hong Woo","raw_affiliation_strings":["Department of Intelligent Robot Engineering, Hanyang University, Ansan, Korea","Dept. of Intell. Robot Eng., Hanyang Univ., Ansan, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Intelligent Robot Engineering, Hanyang University, Ansan, Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Dept. of Intell. Robot Eng., Hanyang Univ., Ansan, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005674224","display_name":"Hoon Lim","orcid":"https://orcid.org/0000-0002-9251-0192"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hoon Lim","raw_affiliation_strings":["Department of Electronic, Electrical, Control and Instrumentation Engineering, Hanyang University, Ansan, Korea","Dept. of Electron., Electr., Control & Instrum. Eng., Hanyang Univ., Ansan, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic, Electrical, Control and Instrumentation Engineering, Hanyang University, Ansan, Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Dept. of Electron., Electr., Control & Instrum. Eng., Hanyang Univ., Ansan, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102141419","display_name":"Jaeheon Chung","orcid":null},"institutions":[{"id":"https://openalex.org/I4210110138","display_name":"Koh Young Technology (South Korea)","ror":"https://ror.org/0244stc74","country_code":"KR","type":"company","lineage":["https://openalex.org/I4210110138"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaeheon Chung","raw_affiliation_strings":["Koh Young Technology Inc., Seoul, Korea","Koh Young Technol. Inc., Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Koh Young Technology Inc., Seoul, Korea","institution_ids":["https://openalex.org/I4210110138"]},{"raw_affiliation_string":"Koh Young Technol. Inc., Seoul, South Korea","institution_ids":["https://openalex.org/I4210110138"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111955449","display_name":"Whee Kuk Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Whee Kuk Kim","raw_affiliation_strings":["Department of Control and Instrumentation Engineering, Korea University, Korea","Dept. of Control & Instrum. Eng., Korea Univ., Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control and Instrumentation Engineering, Korea University, Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"Dept. of Control & Instrum. Eng., Korea Univ., Seoul, South Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035372501","display_name":"Byung\u2010Ju Yi","orcid":"https://orcid.org/0000-0002-0855-2569"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byung-Ju Yi","raw_affiliation_strings":["Department of Electronic Systems Engineering, Hanyang University, Ansan, Korea","Dept. of Electron. Syst. Eng., Hanyang Univ., Ansan, South Korea#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Systems Engineering, Hanyang University, Ansan, Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Dept. of Electron. Syst. Eng., Hanyang Univ., Ansan, South Korea#TAB#","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.872,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.82237038,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"15","issue":null,"first_page":"2882","last_page":"2887"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9990000128746033,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9990000128746033,"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/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9959999918937683,"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":0.6870526075363159},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6125288009643555},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6048785448074341},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5902218222618103},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5733238458633423},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5182945132255554},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.4741132855415344},{"id":"https://openalex.org/keywords/chain","display_name":"Chain (unit)","score":0.4361831843852997},{"id":"https://openalex.org/keywords/open-loop-controller","display_name":"Open-loop controller","score":0.43060699105262756},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2294783890247345},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18705075979232788},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.161281019449234},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11894002556800842},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09683188796043396},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09372812509536743}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6870526075363159},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6125288009643555},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6048785448074341},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5902218222618103},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5733238458633423},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5182945132255554},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.4741132855415344},{"id":"https://openalex.org/C199185054","wikidata":"https://www.wikidata.org/wiki/Q552299","display_name":"Chain (unit)","level":2,"score":0.4361831843852997},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.43060699105262756},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2294783890247345},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18705075979232788},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.161281019449234},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11894002556800842},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09683188796043396},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09372812509536743},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2013.6696764","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696764","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hanyang.ac.kr:20.500.11754/90970","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/6696764/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401328","display_name":"The Royal Society of Chemistry\u2019s Journals, Books and Databases (The Royal Society of Chemistry)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2751430930","host_organization_name":"Royal Society of Chemistry","host_organization_lineage":["https://openalex.org/I2751430930"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8299999833106995,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1482796173","https://openalex.org/W1543517427","https://openalex.org/W2036754559","https://openalex.org/W2042622861","https://openalex.org/W2045663437","https://openalex.org/W2068914701","https://openalex.org/W2092489366","https://openalex.org/W2100699731","https://openalex.org/W2115176919","https://openalex.org/W2117199428","https://openalex.org/W2132632986","https://openalex.org/W2135180928","https://openalex.org/W2404703871","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2103982267","https://openalex.org/W2065196227","https://openalex.org/W2319944002","https://openalex.org/W2724432464","https://openalex.org/W2357305699","https://openalex.org/W2126107835","https://openalex.org/W1484482787","https://openalex.org/W4402751964","https://openalex.org/W2064931821","https://openalex.org/W2118062212"],"abstract_inverted_index":{"Much":[0],"attention":[1],"has":[2],"not":[3],"been":[4],"paid":[5],"to":[6,102],"analysis":[7],"of":[8,15,59,67,79,107],"the":[9,60,65,68,92,104,108],"open-loop":[10,22,61,105],"stability":[11,23,106],"for":[12,49],"gravity":[13],"counter-balancing":[14,89],"parallel":[16,72],"mechanisms":[17,30],"or":[18],"closed-chain":[19,51],"mechanisms.":[20],"The":[21],"is":[24,39,47,81,90],"crucial":[25],"especially":[26],"in":[27],"passively":[28],"counter-balanced":[29],"where":[31],"no":[32],"actuators":[33],"are":[34],"involved.":[35],"Passive":[36],"hands-on":[37],"device":[38],"such":[40],"an":[41,84],"example.":[42],"A":[43,71],"general":[44,50],"stiffness":[45,69],"model":[46],"derived":[48],"mechanism":[52,73],"including":[53],"counter-weight":[54],"model.":[55],"As":[56],"a":[57],"measure":[58],"stability,":[62],"we":[63],"employ":[64],"determinant":[66],"matrix.":[70],"having":[74],"3":[75],"translational":[76],"DOF":[77],"(degree":[78],"freedom)":[80],"employed":[82],"as":[83],"exemplary":[85],"device.":[86],"An":[87],"antagonistically":[88],"found":[91],"most":[93],"stable":[94],"method.":[95],"We":[96],"conduct":[97],"dynamic":[98],"simulation":[99],"and":[100],"experiment":[101],"confirm":[103],"system.":[109]},"counts_by_year":[{"year":2019,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2016-06-24T00:00:00"}