{"id":"https://openalex.org/W2774051060","doi":"https://doi.org/10.1109/iros.2017.8202265","title":"Development of a 4-joint 3-DOF robotic arm with anti-reaction force mechanism for a multicopter","display_name":"Development of a 4-joint 3-DOF robotic arm with anti-reaction force mechanism for a multicopter","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2774051060","doi":"https://doi.org/10.1109/iros.2017.8202265","mag":"2774051060"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8202265","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202265","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5034021311","display_name":"Yoshinori Ohnishi","orcid":null},"institutions":[{"id":"https://openalex.org/I113306721","display_name":"Hiroshima University","ror":"https://ror.org/03t78wx29","country_code":"JP","type":"education","lineage":["https://openalex.org/I113306721"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yoshinori Ohnishi","raw_affiliation_strings":["Department of System Cybernetics, Hiroshima University, Higashihiroshima, Japan"],"affiliations":[{"raw_affiliation_string":"Department of System Cybernetics, Hiroshima University, Higashihiroshima, Japan","institution_ids":["https://openalex.org/I113306721"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081924993","display_name":"Takeshi Takaki","orcid":"https://orcid.org/0000-0003-3213-9130"},"institutions":[{"id":"https://openalex.org/I113306721","display_name":"Hiroshima University","ror":"https://ror.org/03t78wx29","country_code":"JP","type":"education","lineage":["https://openalex.org/I113306721"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takeshi Takaki","raw_affiliation_strings":["Department of System Cybernetics, Hiroshima University, Higashihiroshima, Japan"],"affiliations":[{"raw_affiliation_string":"Department of System Cybernetics, Hiroshima University, Higashihiroshima, Japan","institution_ids":["https://openalex.org/I113306721"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089806952","display_name":"Tadayoshi Aoyama","orcid":"https://orcid.org/0000-0001-7860-0725"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tadayoshi Aoyama","raw_affiliation_strings":["Department of Micro-Nano Mechanical Science and Engineering, Nagoya University, Nagoya, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Micro-Nano Mechanical Science and Engineering, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060719224","display_name":"Idaku Ishii","orcid":"https://orcid.org/0000-0002-7728-2363"},"institutions":[{"id":"https://openalex.org/I113306721","display_name":"Hiroshima University","ror":"https://ror.org/03t78wx29","country_code":"JP","type":"education","lineage":["https://openalex.org/I113306721"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Idaku Ishii","raw_affiliation_strings":["Department of System Cybernetics, Hiroshima University, Higashihiroshima, Japan"],"affiliations":[{"raw_affiliation_string":"Department of System Cybernetics, Hiroshima University, Higashihiroshima, Japan","institution_ids":["https://openalex.org/I113306721"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5034021311"],"corresponding_institution_ids":["https://openalex.org/I113306721"],"apc_list":null,"apc_paid":null,"fwci":1.0923,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.86564363,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"985","last_page":"991"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9979000091552734,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9948999881744385,"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/robotic-arm","display_name":"Robotic arm","score":0.7924380302429199},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.688730776309967},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.523565948009491},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4981803894042969},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.465877503156662},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.43422558903694153},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4174862504005432},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.4106561243534088},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4088839888572693},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2611376941204071},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.23900261521339417},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18082499504089355},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16339772939682007},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10408306121826172}],"concepts":[{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.7924380302429199},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.688730776309967},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.523565948009491},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4981803894042969},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.465877503156662},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.43422558903694153},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4174862504005432},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.4106561243534088},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4088839888572693},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2611376941204071},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.23900261521339417},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18082499504089355},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16339772939682007},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10408306121826172},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8202265","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202265","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.75,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1525021737","https://openalex.org/W1607916159","https://openalex.org/W1999941908","https://openalex.org/W2007554064","https://openalex.org/W2019896740","https://openalex.org/W2030982812","https://openalex.org/W2064171812","https://openalex.org/W2097120474","https://openalex.org/W2116320843","https://openalex.org/W2119968060","https://openalex.org/W2128923571","https://openalex.org/W2206893677","https://openalex.org/W6655188812","https://openalex.org/W6658183930"],"related_works":["https://openalex.org/W4385452609","https://openalex.org/W1992538606","https://openalex.org/W2746642893","https://openalex.org/W4313255720","https://openalex.org/W8302103","https://openalex.org/W2921933148","https://openalex.org/W2375420338","https://openalex.org/W1817375815","https://openalex.org/W4376460605","https://openalex.org/W2317860422"],"abstract_inverted_index":{"In":[0,45,76,150],"this":[1,39,153],"paper,":[2],"we":[3,173,198],"propose":[4],"a":[5,12,17,26,145,163,166,200],"design":[6,48,217],"method":[7],"for":[8,16,56,102],"the":[9,31,46,50,53,58,61,77,80,83,87,91,104,107,110,113,122,125,129,132,139,157,175,182,191,215,220,224,228,231,236],"mechanism":[10],"of":[11,21,60,72,82,86,106,109,131,159,184,186,210,230],"robotic":[13,66,140,154,202,225],"arm":[14,23,51,67,93,111,141,155,203,226,237],"suitable":[15],"multicopter.":[18],"The":[19,65],"motion":[20],"an":[22],"attached":[24,161],"to":[25,37,96,124,162],"multicopter":[27,32,62,126,133,164,232],"can":[28,68,100,135],"possibly":[29],"disturb":[30],"attitude.":[33,63,127],"Our":[34],"aim":[35],"is":[36,94],"suppress":[38],"attitude":[40,134,233],"disturbance":[41,59,123,130,229],"by":[42,235],"mechanical":[43],"methods.":[44],"proposed":[47,216],"method,":[49,180],"has":[52,156],"following":[54],"features":[55,99],"suppressing":[57],"1.":[64],"adjust":[69],"its":[70],"center":[71],"gravity":[73],"(COG).":[74],"2.":[75],"simplified":[78],"model,":[79],"sum":[81],"angular":[84],"momentum":[85],"rotating":[88,118,187],"parts":[89],"constituting":[90],"robot":[92],"equal":[95],"zero.":[97],"These":[98],"compensate":[101],"both":[103],"displacement":[105],"COG":[108],"and":[112,181,195,207],"counter":[114],"torque":[115],"generated":[116],"from":[117],"parts,":[119,188],"which":[120],"cause":[121],"Since":[128],"be":[136],"suppressed":[137,227],"mechanically,":[138],"does":[142],"not":[143],"require":[144],"special":[146],"flight":[147,170],"control":[148],"law.":[149],"other":[151],"words,":[152],"advantage":[158],"being":[160],"using":[165],"common,":[167],"off-the-shelf,":[168],"multipurpose":[169],"controller.":[171],"Furthermore,":[172],"discuss":[174],"mass":[176],"distribution,":[177],"power":[178],"transmission":[179],"moment":[183],"inertia":[185],"such":[189],"as":[190],"speed":[192],"reducer,":[193],"motor,":[194],"arm.":[196],"Additionally,":[197],"fabricate":[199],"prototype":[201],"with":[204],"four":[205],"joints":[206],"three":[208],"degrees":[209],"freedom":[211],"(DOFs),":[212],"based":[213],"on":[214],"method.":[218],"Finally,":[219],"experiments":[221],"showed":[222],"that":[223],"caused":[234],"motion.":[238]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}