{"id":"https://openalex.org/W1996893102","doi":"https://doi.org/10.1109/iros.2014.6943109","title":"Drum stroke variation using Variable Stiffness Actuators","display_name":"Drum stroke variation using Variable Stiffness Actuators","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W1996893102","doi":"https://doi.org/10.1109/iros.2014.6943109","mag":"1996893102"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6943109","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943109","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 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/A5058354858","display_name":"Yongtae G. Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]},{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT","KR"],"is_corresponding":true,"raw_author_name":"Yongtae G. Kim","raw_affiliation_strings":["Centro di Ricerca \u201cE. Piaggio\u201d, Universita di Pisa, Pisa, Italy","Department of Transdisciplinary Studies, Seoul National University, Republic of Korea","Centro di Ricerca \"E. Piaggio\", Universita di Pisa, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Centro di Ricerca \u201cE. Piaggio\u201d, Universita di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]},{"raw_affiliation_string":"Department of Transdisciplinary Studies, Seoul National University, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Centro di Ricerca \"E. Piaggio\", Universita di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042460018","display_name":"Manolo Garabini","orcid":"https://orcid.org/0000-0002-5873-3173"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manolo Garabini","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031070386","display_name":"Jaeheung Park","orcid":"https://orcid.org/0000-0002-5062-8264"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaeheung Park","raw_affiliation_strings":["Department of Transdisciplinary Studies, Seoul National University, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Transdisciplinary Studies, Seoul National University, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082180334","display_name":"Antonio Bicchi","orcid":"https://orcid.org/0000-0001-8635-5571"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Bicchi","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5058354858"],"corresponding_institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238","https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":0.1868,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.53815398,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"3892","last_page":"3897"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9994000196456909,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/actuator","display_name":"Actuator","score":0.8098820447921753},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6370722651481628},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.595753014087677},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5946248173713684},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.503365695476532},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.492255836725235},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37995025515556335},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37987813353538513},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32819944620132446},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.10958296060562134}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8098820447921753},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6370722651481628},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.595753014087677},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5946248173713684},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.503365695476532},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.492255836725235},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37995025515556335},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37987813353538513},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32819944620132446},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.10958296060562134}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2014.6943109","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943109","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:arpi.unipi.it:11568/506868","is_oa":false,"landing_page_url":"http://hdl.handle.net/11568/506868","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W39123374","https://openalex.org/W212011086","https://openalex.org/W1887371178","https://openalex.org/W1915593659","https://openalex.org/W1962965017","https://openalex.org/W1966483388","https://openalex.org/W1995410514","https://openalex.org/W1995819837","https://openalex.org/W2098251608","https://openalex.org/W2098664101","https://openalex.org/W2107520375","https://openalex.org/W2108775563","https://openalex.org/W2108858091","https://openalex.org/W2120630110","https://openalex.org/W2122699516","https://openalex.org/W2128456226","https://openalex.org/W2129330981","https://openalex.org/W2136960579","https://openalex.org/W2141163906","https://openalex.org/W2145336185","https://openalex.org/W2156455176","https://openalex.org/W2166556845","https://openalex.org/W2397204291","https://openalex.org/W2402099651","https://openalex.org/W3140427395","https://openalex.org/W4303065134","https://openalex.org/W6601560883","https://openalex.org/W6639633512","https://openalex.org/W6676005781","https://openalex.org/W6684424366","https://openalex.org/W6712094470","https://openalex.org/W6713005494"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W4233452137","https://openalex.org/W4254857216","https://openalex.org/W405964254","https://openalex.org/W2045758229","https://openalex.org/W4231626925","https://openalex.org/W2962829499","https://openalex.org/W4250956039","https://openalex.org/W2033423548","https://openalex.org/W2169100281"],"abstract_inverted_index":{"One":[0],"interesting":[1],"field":[2,55],"of":[3,48,57,63,67,86,92,102,129,136,154],"robotics":[4],"technology":[5],"is":[6,19,42,122,132,148,162,177],"related":[7,51],"to":[8,45,52,59],"the":[9,90,127,130,134,137,144,159],"entertainment":[10],"industry.":[11],"Performing":[12],"a":[13,17,20,40,76,83,93,165],"musical":[14],"piece":[15],"using":[16,103,115,152],"robot":[18,41,78],"difficult":[21],"task":[22],"because":[23],"music":[24],"presents":[25],"many":[26],"features":[27],"like":[28],"melody,":[29],"rhythm,":[30],"tone,":[31],"harmony":[32],"and":[33,111],"so":[34],"on.":[35],"Addressing":[36],"these":[37],"tasks":[38],"with":[39,75],"not":[43,71],"trivial":[44],"implement.":[46],"Most":[47],"approaches":[49],"which":[50,88,147,168],"this":[53],"specific":[54,145],"lacks":[56],"quality":[58],"perform":[60],"in":[61],"front":[62],"human":[64,173],"audience.":[65],"Implementation":[66],"human-like":[68],"motions":[69],"can":[70,107],"be":[72,170],"properly":[73],"achieved":[74],"conventional":[77,94,104],"actuator.":[79,105,157],"Consequently,":[80],"we":[81],"exploit":[82],"new":[84],"type":[85],"actuator":[87,131],"simplifies":[89],"drawbacks":[91],"one.":[95],"We":[96,106,142],"used":[97],"Variable":[98],"Stiffness":[99],"Actuator(VSA)":[100],"instead":[101],"control":[108],"position,":[109],"force,":[110],"stiffness,":[112],"simultaneously":[113],"by":[114,172,180],"VSA.":[116],"The":[117],"most":[118],"important":[119],"novel":[120],"feature":[121],"its":[123],"controllable":[124],"stiffness.":[125],"When":[126],"stiffness":[128,156,181],"changed,":[133],"characteristics":[135],"actuator's":[138],"response":[139],"also":[140],"changes.":[141],"implemented":[143,179],"stroke":[146,161,167,176],"called":[149],"\u201cdouble":[150],"stroke\u201d":[151],"one":[153],"variable":[155],"Although":[158],"double":[160,175],"known":[163],"as":[164],"special":[166],"could":[169],"performed":[171],"only,":[174],"successfully":[178],"variation.":[182]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-25T21:42:39.735039","created_date":"2025-10-10T00:00:00"}