{"id":"https://openalex.org/W2014047197","doi":"https://doi.org/10.1109/iros.2013.6696991","title":"MEMS-based state feedback control of multi-body hydraulic manipulator","display_name":"MEMS-based state feedback control of multi-body hydraulic manipulator","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2014047197","doi":"https://doi.org/10.1109/iros.2013.6696991","mag":"2014047197"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696991","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696991","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":"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/A5010313751","display_name":"Janne Honkakorpi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210133110","display_name":"Tampere University","ror":null,"country_code":"FI","type":null,"lineage":["https://openalex.org/I4210133110"]},{"id":"https://openalex.org/I150589677","display_name":"Tampere University of Applied Sciences","ror":"https://ror.org/00bwtjf83","country_code":"FI","type":"education","lineage":["https://openalex.org/I150589677"]}],"countries":["FI"],"is_corresponding":true,"raw_author_name":"Janne Honkakorpi","raw_affiliation_strings":["Department of Intelligent Hydraulics and Automation, Tampere University of Technology, Finland","[Dept. of Intell. Hydraulics & Autom., Tampere Univ. of Technol., Tampere, Finland]"],"affiliations":[{"raw_affiliation_string":"Department of Intelligent Hydraulics and Automation, Tampere University of Technology, Finland","institution_ids":["https://openalex.org/I4210133110"]},{"raw_affiliation_string":"[Dept. of Intell. Hydraulics & Autom., Tampere Univ. of Technol., Tampere, Finland]","institution_ids":["https://openalex.org/I150589677"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063392237","display_name":"Juho Vihonen","orcid":"https://orcid.org/0000-0003-3837-3307"},"institutions":[{"id":"https://openalex.org/I4210133110","display_name":"Tampere University","ror":null,"country_code":"FI","type":null,"lineage":["https://openalex.org/I4210133110"]},{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]},{"id":"https://openalex.org/I150589677","display_name":"Tampere University of Applied Sciences","ror":"https://ror.org/00bwtjf83","country_code":"FI","type":"education","lineage":["https://openalex.org/I150589677"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Juho Vihonen","raw_affiliation_strings":["Department of Signal Processing, Tampere University of Technology, Finland","Dept. of Signal Process., Tampere Univ. of Technol., Tampere, , Finland"],"affiliations":[{"raw_affiliation_string":"Department of Signal Processing, Tampere University of Technology, Finland","institution_ids":["https://openalex.org/I166825849","https://openalex.org/I4210133110"]},{"raw_affiliation_string":"Dept. of Signal Process., Tampere Univ. of Technol., Tampere, , Finland","institution_ids":["https://openalex.org/I150589677"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070792821","display_name":"Jouni Mattila","orcid":"https://orcid.org/0000-0003-1799-4323"},"institutions":[{"id":"https://openalex.org/I150589677","display_name":"Tampere University of Applied Sciences","ror":"https://ror.org/00bwtjf83","country_code":"FI","type":"education","lineage":["https://openalex.org/I150589677"]},{"id":"https://openalex.org/I4210133110","display_name":"Tampere University","ror":null,"country_code":"FI","type":null,"lineage":["https://openalex.org/I4210133110"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Jouni Mattila","raw_affiliation_strings":["Department of Intelligent Hydraulics and Automation, Tampere University of Technology, Finland","[Dept. of Intell. Hydraulics & Autom., Tampere Univ. of Technol., Tampere, Finland]"],"affiliations":[{"raw_affiliation_string":"Department of Intelligent Hydraulics and Automation, Tampere University of Technology, Finland","institution_ids":["https://openalex.org/I4210133110"]},{"raw_affiliation_string":"[Dept. of Intell. Hydraulics & Autom., Tampere Univ. of Technol., Tampere, Finland]","institution_ids":["https://openalex.org/I150589677"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5010313751"],"corresponding_institution_ids":["https://openalex.org/I150589677","https://openalex.org/I4210133110"],"apc_list":null,"apc_paid":null,"fwci":3.6485,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.91917035,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4419","last_page":"4425"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9998000264167786,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10534","display_name":"Structural Health Monitoring Techniques","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.8012253046035767},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.6169524788856506},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5975883603096008},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.5066631436347961},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4898054301738739},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4893614649772644},{"id":"https://openalex.org/keywords/rate-gyro","display_name":"Rate gyro","score":0.4650871157646179},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.4623014032840729},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.45761293172836304},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.44320523738861084},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4425640404224396},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.4259773790836334},{"id":"https://openalex.org/keywords/feedback-loop","display_name":"Feedback loop","score":0.42023545503616333},{"id":"https://openalex.org/keywords/rotary-encoder","display_name":"Rotary encoder","score":0.41902726888656616},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32484525442123413},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19300490617752075},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18920767307281494},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15610477328300476},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1288336217403412},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11330193281173706}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8012253046035767},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.6169524788856506},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5975883603096008},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.5066631436347961},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4898054301738739},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4893614649772644},{"id":"https://openalex.org/C15476841","wikidata":"https://www.wikidata.org/wiki/Q7295535","display_name":"Rate gyro","level":3,"score":0.4650871157646179},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.4623014032840729},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.45761293172836304},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.44320523738861084},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4425640404224396},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.4259773790836334},{"id":"https://openalex.org/C186886427","wikidata":"https://www.wikidata.org/wiki/Q5441213","display_name":"Feedback loop","level":2,"score":0.42023545503616333},{"id":"https://openalex.org/C37488316","wikidata":"https://www.wikidata.org/wiki/Q53699","display_name":"Rotary encoder","level":3,"score":0.41902726888656616},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32484525442123413},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19300490617752075},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18920767307281494},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15610477328300476},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1288336217403412},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11330193281173706},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2013.6696991","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696991","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.6600000262260437}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W51254063","https://openalex.org/W611790969","https://openalex.org/W1998856946","https://openalex.org/W2049228863","https://openalex.org/W2049789583","https://openalex.org/W2069873376","https://openalex.org/W2089185126","https://openalex.org/W2102435655","https://openalex.org/W2113854435","https://openalex.org/W2128864441","https://openalex.org/W2138898866","https://openalex.org/W2484550435","https://openalex.org/W4230278603","https://openalex.org/W6649944687"],"related_works":["https://openalex.org/W802605950","https://openalex.org/W142004827","https://openalex.org/W1984870962","https://openalex.org/W2157562427","https://openalex.org/W2202333230","https://openalex.org/W169672022","https://openalex.org/W2158350187","https://openalex.org/W2373597118","https://openalex.org/W2797308591","https://openalex.org/W2539371309"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"closed-loop":[3,63],"state":[4,49,54,84],"feedback":[5,75,85],"motion":[6,48,53,73],"control":[7,64,71,86],"of":[8],"a":[9],"heavy-duty":[10],"hydraulic":[11],"manipulator":[12],"using":[13,59],"solely":[14],"micro-electro-mechanical":[15],"systems":[16],"(MEMS)":[17],"rate":[18],"gyroscopes":[19],"and":[20,28,72,113],"linear":[21],"accelerometers":[22],"for":[23],"joint":[24,47],"angular":[25,100],"position,":[26],"velocity":[27],"acceleration":[29,101],"feedback.":[30,50],"For":[31],"benchmarking,":[32],"incremental":[33],"encoders":[34],"with":[35,66,92],"2":[36],"million":[37],"counts":[38],"per":[39],"revolution":[40],"are":[41,57],"also":[42],"used":[43],"to":[44],"supply":[45],"the":[46,81,93,98],"The":[51,77],"two":[52],"estimation":[55,102],"methods":[56],"compared":[58,91],"Cartesian":[60],"path":[61],"trajectory":[62],"experiments":[65,78],"both":[67],"position":[68],"feedback-based":[69],"proportional":[70],"state-based":[74],"control.":[76],"show":[79],"that":[80],"proposed":[82],"MEMS-based":[83,99],"yields":[87],"comparable":[88],"tracking":[89],"results":[90],"high":[94],"accuracy":[95],"encoder.":[96],"Furthermore,":[97],"in":[103],"particular":[104],"is":[105],"free":[106],"from":[107],"typical":[108],"differentiation":[109],"induced":[110],"noise":[111],"amplification":[112],"post-filtering":[114],"phase-lag.":[115]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}