{"id":"https://openalex.org/W2736608925","doi":"https://doi.org/10.1109/iros.2017.8206113","title":"Disturbance-observer-based PD control of electro-hydrostatically actuated flexible joint robots","display_name":"Disturbance-observer-based PD control of electro-hydrostatically actuated flexible joint robots","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2736608925","doi":"https://doi.org/10.1109/iros.2017.8206113","mag":"2736608925"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206113","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206113","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/A5008476367","display_name":"Woongyong Lee","orcid":"https://orcid.org/0000-0003-1263-082X"},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Woongyong Lee","raw_affiliation_strings":["Robotics Laboratory, Pohang University of Science and Technology (POSTECH), Pohang, Gyung-buk, Korea"],"affiliations":[{"raw_affiliation_string":"Robotics Laboratory, Pohang University of Science and Technology (POSTECH), Pohang, Gyung-buk, Korea","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101828960","display_name":"Min Jun Kim","orcid":"https://orcid.org/0000-0003-0605-4512"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Min Jun Kim","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020648634","display_name":"Wan Kyun Chung","orcid":"https://orcid.org/0000-0003-2715-5320"},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Wan Kyun Chung","raw_affiliation_strings":["Robotics Laboratory, Pohang University of Science and Technology (POSTECH), Pohang, Gyung-buk, Korea"],"affiliations":[{"raw_affiliation_string":"Robotics Laboratory, Pohang University of Science and Technology (POSTECH), Pohang, Gyung-buk, Korea","institution_ids":["https://openalex.org/I123900574"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5008476367"],"corresponding_institution_ids":["https://openalex.org/I123900574"],"apc_list":null,"apc_paid":null,"fwci":1.4197,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.80338492,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2821","last_page":"2828"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9988999962806702,"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":0.9988999962806702,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9988999962806702,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9975000023841858,"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":0.8123534917831421},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6899698376655579},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5807185173034668},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.558925211429596},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5271593928337097},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5185054540634155},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5034684538841248},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4828117787837982},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.43590855598449707},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4239962100982666},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3224678635597229},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.29283952713012695},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13985943794250488},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.10019007325172424},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06686073541641235}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8123534917831421},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6899698376655579},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5807185173034668},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.558925211429596},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5271593928337097},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5185054540634155},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5034684538841248},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4828117787837982},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.43590855598449707},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4239962100982666},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3224678635597229},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29283952713012695},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13985943794250488},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.10019007325172424},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06686073541641235},{"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2017.8206113","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206113","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"},{"id":"pmh:oai:elib.dlr.de:113135","is_oa":false,"landing_page_url":"https://elib.dlr.de/113135/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzbeitrag"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1968560077","https://openalex.org/W1984929297","https://openalex.org/W2068027769","https://openalex.org/W2086889378","https://openalex.org/W2097446805","https://openalex.org/W2116173273","https://openalex.org/W2131063775","https://openalex.org/W2147288676","https://openalex.org/W2150024155","https://openalex.org/W2150890789","https://openalex.org/W2188422583","https://openalex.org/W2414532750","https://openalex.org/W2564276393"],"related_works":["https://openalex.org/W4233304828","https://openalex.org/W4239268637","https://openalex.org/W1977819874","https://openalex.org/W2952841825","https://openalex.org/W2051296765","https://openalex.org/W2960878236","https://openalex.org/W153449849","https://openalex.org/W2085176909","https://openalex.org/W2792365087","https://openalex.org/W4288558741"],"abstract_inverted_index":{"Position-based":[0],"proportional":[1],"derivative":[2],"(PD)":[3],"controllers":[4],"are":[5,19,34],"known":[6],"to":[7,10,14,28,38,49,57,93,105,108],"be":[8,47],"able":[9],"render":[11],"compliant":[12],"behaviors":[13],"a":[15,25,70],"robot,":[16],"and":[17,83,96,120],"they":[18,45],"usually":[20],"used":[21],"in":[22],"conjunction":[23],"with":[24,41,102],"friction":[26,82],"compensator":[27],"improve":[29],"control":[30,73],"performance.":[31],"Existing":[32],"methods":[33],"effective":[35],"when":[36],"applied":[37,48],"actuation":[39,50],"systems":[40,51],"mechanical":[42],"transmissions;":[43],"however,":[44],"cannot":[46],"that":[52,75],"use":[53],"fluid":[54,62,94,103],"transmissions":[55,104],"owing":[56],"the":[58,84,109,114],"characteristics":[59],"resulting":[60],"from":[61],"parameters.":[63],"To":[64],"solve":[65],"this":[66],"problem,":[67],"we":[68],"propose":[69],"stability-guaranteed":[71],"PD":[72],"method":[74],"incorporates":[76],"two":[77],"observers:":[78],"one":[79],"for":[80,87],"observing":[81,88],"other":[85],"is":[86],"flexible":[89],"joint":[90],"effects":[91],"due":[92],"compliance":[95],"internal":[97],"leakage.":[98],"This":[99],"allows":[100],"robots":[101],"asymptotically":[106],"converge":[107],"desired":[110],"position.":[111],"We":[112],"verified":[113],"proposed":[115],"approach":[116],"by":[117],"conducting":[118],"simulations":[119],"experiments.":[121]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}