{"id":"https://openalex.org/W2772638041","doi":"https://doi.org/10.1109/iros.2017.8206414","title":"Distributed torque estimation toward low-latency variable stiffness control for gear-driven torque sensorless humanoid","display_name":"Distributed torque estimation toward low-latency variable stiffness control for gear-driven torque sensorless humanoid","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2772638041","doi":"https://doi.org/10.1109/iros.2017.8206414","mag":"2772638041"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206414","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/A5007811697","display_name":"Yuya Nagamatsu","orcid":"https://orcid.org/0000-0003-3359-4397"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yuya Nagamatsu","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100919783","display_name":"Takuma Shirai","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takuma Shirai","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068223886","display_name":"Hiroto Suzuki","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroto Suzuki","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112241257","display_name":"Yohei Kakiuchi","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yohei Kakiuchi","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101836795","display_name":"Kei Okada","orcid":"https://orcid.org/0000-0001-6606-6692"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kei Okada","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047218430","display_name":"Masayuki Inaba","orcid":"https://orcid.org/0000-0003-1273-1567"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masayuki Inaba","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5007811697"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":1.657,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.83272273,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5239","last_page":"5244"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9948999881744385,"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.9818999767303467,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.790075421333313},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7029476165771484},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6797027587890625},{"id":"https://openalex.org/keywords/harmonic-drive","display_name":"Harmonic drive","score":0.6726690530776978},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5777310729026794},{"id":"https://openalex.org/keywords/backlash","display_name":"Backlash","score":0.5437014102935791},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47488969564437866},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.47050613164901733},{"id":"https://openalex.org/keywords/stall-torque","display_name":"Stall torque","score":0.43814393877983093},{"id":"https://openalex.org/keywords/damping-torque","display_name":"Damping torque","score":0.4342373013496399},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.4177042543888092},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3860970735549927},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.3730581998825073},{"id":"https://openalex.org/keywords/direct-torque-control","display_name":"Direct torque control","score":0.3132191300392151},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11630505323410034},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11021614074707031},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08712023496627808},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.06256791949272156},{"id":"https://openalex.org/keywords/induction-motor","display_name":"Induction motor","score":0.05945727229118347}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.790075421333313},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7029476165771484},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6797027587890625},{"id":"https://openalex.org/C2777105549","wikidata":"https://www.wikidata.org/wiki/Q751500","display_name":"Harmonic drive","level":2,"score":0.6726690530776978},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5777310729026794},{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.5437014102935791},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47488969564437866},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.47050613164901733},{"id":"https://openalex.org/C17348537","wikidata":"https://www.wikidata.org/wiki/Q7597300","display_name":"Stall torque","level":5,"score":0.43814393877983093},{"id":"https://openalex.org/C40226289","wikidata":"https://www.wikidata.org/wiki/Q5212950","display_name":"Damping torque","level":5,"score":0.4342373013496399},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.4177042543888092},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3860970735549927},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.3730581998825073},{"id":"https://openalex.org/C109871850","wikidata":"https://www.wikidata.org/wiki/Q1227571","display_name":"Direct torque control","level":4,"score":0.3132191300392151},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11630505323410034},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11021614074707031},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08712023496627808},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.06256791949272156},{"id":"https://openalex.org/C80962145","wikidata":"https://www.wikidata.org/wiki/Q207450","display_name":"Induction motor","level":3,"score":0.05945727229118347},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206414","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1567967320","https://openalex.org/W1979445726","https://openalex.org/W1986621758","https://openalex.org/W2029394778","https://openalex.org/W2036412313","https://openalex.org/W2047294577","https://openalex.org/W2074154222","https://openalex.org/W2130117525","https://openalex.org/W2158583539","https://openalex.org/W2168936093","https://openalex.org/W2170116736","https://openalex.org/W2214607041","https://openalex.org/W2417728065","https://openalex.org/W2555059385","https://openalex.org/W2568603054","https://openalex.org/W2569517946","https://openalex.org/W2571049687","https://openalex.org/W6730044794"],"related_works":["https://openalex.org/W2583733053","https://openalex.org/W2004017403","https://openalex.org/W2030913535","https://openalex.org/W1920870227","https://openalex.org/W206486857","https://openalex.org/W4242383550","https://openalex.org/W2150783677","https://openalex.org/W3109004251","https://openalex.org/W2139566979","https://openalex.org/W3133153217"],"abstract_inverted_index":{"This":[0],"paper":[1],"explains":[2],"low-latency":[3,58],"joint":[4,14,78],"torque":[5,10,59,67,79],"feedback":[6,41,60],"control":[7,23,97],"based":[8],"on":[9,12],"estimation":[11],"each":[13,87],"for":[15,72],"gear-driven":[16,25,44],"humanoid":[17,74],"robots":[18,26,45],"with":[19,37],"harmonic":[20],"drives.":[21],"Force":[22],"of":[24],"has":[27],"an":[28],"advantage":[29],"in":[30,35,50,62,86],"its":[31],"fully":[32],"variable":[33],"stiffness":[34],"comparison":[36],"elastic":[38],"robots.":[39,75],"However,":[40],"latency":[42],"makes":[43],"vulnerable":[46],"to":[47,93],"impact":[48],"rising":[49],"several":[51],"milliseconds.":[52],"It":[53],"would":[54],"be":[55],"resolved":[56],"by":[57,107],"loop":[61],"a":[63],"single":[64],"joint,":[65,88],"but":[66],"sensors":[68],"are":[69],"too":[70],"large":[71],"life-sized":[73],"We":[76],"estimate":[77],"from":[80],"motor":[81],"current":[82],"and":[83,89,98],"rotation":[84],"observed":[85],"give":[90],"artificial":[91],"elasticity":[92],"joints":[94],"using":[95],"compliance":[96],"shock":[99],"absorption":[100],"control.":[101],"Our":[102],"controller":[103],"performance":[104],"is":[105],"demonstrated":[106],"landing":[108],"experiments.":[109]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}