{"id":"https://openalex.org/W4312336300","doi":"https://doi.org/10.1109/iros47612.2022.9981130","title":"Experimental Study on Impact Resistance of Multi-DOF Electro-Hydrostatic Robot Systems Using Hydracer, a 6DOF Arm","display_name":"Experimental Study on Impact Resistance of Multi-DOF Electro-Hydrostatic Robot Systems Using Hydracer, a 6DOF Arm","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312336300","doi":"https://doi.org/10.1109/iros47612.2022.9981130"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981130","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5072089139","display_name":"Mitsuo Komagata","orcid":"https://orcid.org/0000-0001-8884-2023"},"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":"Mitsuo Komagata","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Bunkyo-Ku,Tokyo,7-3-1 Hongo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Bunkyo-Ku,Tokyo,7-3-1 Hongo","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078554387","display_name":"Yutaro Imashiro","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":"Yutaro Imashiro","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Bunkyo-Ku,Tokyo,7-3-1 Hongo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Bunkyo-Ku,Tokyo,7-3-1 Hongo","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044361148","display_name":"Ryoya Suzuki","orcid":"https://orcid.org/0000-0002-3388-5197"},"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":"Ryoya Suzuki","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Bunkyo-Ku,Tokyo,7-3-1 Hongo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Bunkyo-Ku,Tokyo,7-3-1 Hongo","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004244024","display_name":"Kento Oishi","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":"Kento Oishi","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Bunkyo-Ku,Tokyo,7-3-1 Hongo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Bunkyo-Ku,Tokyo,7-3-1 Hongo","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019612202","display_name":"Ko Yamamoto","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":"Ko Yamamoto","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Bunkyo-Ku,Tokyo,7-3-1 Hongo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Bunkyo-Ku,Tokyo,7-3-1 Hongo","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040633710","display_name":"Yoshihiko Nakamura","orcid":"https://orcid.org/0000-0001-7162-5102"},"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":"Yoshihiko Nakamura","raw_affiliation_strings":["RACE, Graduate School of Engineering, The University of Tokyo,Bunkyo-Ku, Tokyo,Japan,113\u20138656"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RACE, Graduate School of Engineering, The University of Tokyo,Bunkyo-Ku, Tokyo,Japan,113\u20138656","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7352","last_page":"7358"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9955999851226807,"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":0.994700014591217,"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/controllability","display_name":"Controllability","score":0.8077329993247986},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7138636708259583},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6760632991790771},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5722783803939819},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5153629183769226},{"id":"https://openalex.org/keywords/impact","display_name":"Impact","score":0.5109147429466248},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.42299219965934753},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41710686683654785},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3652762174606323},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3323866128921509},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3242218494415283},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.21092087030410767},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1761135458946228},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08045291900634766},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08042871952056885},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06369584798812866}],"concepts":[{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.8077329993247986},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7138636708259583},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6760632991790771},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5722783803939819},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5153629183769226},{"id":"https://openalex.org/C199310239","wikidata":"https://www.wikidata.org/wiki/Q4115667","display_name":"Impact","level":2,"score":0.5109147429466248},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.42299219965934753},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41710686683654785},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3652762174606323},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3323866128921509},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3242218494415283},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.21092087030410767},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1761135458946228},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08045291900634766},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08042871952056885},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06369584798812866},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981130","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4679765500","display_name":"Acquisition, Description and Authentication of Personal Digital Twin","funder_award_id":"20H00599","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1965078187","https://openalex.org/W2079217437","https://openalex.org/W2111253117","https://openalex.org/W2137165191","https://openalex.org/W2142363007","https://openalex.org/W2150890789","https://openalex.org/W2159746877","https://openalex.org/W2333849610","https://openalex.org/W2564276393","https://openalex.org/W2602427680","https://openalex.org/W2738459777","https://openalex.org/W2753394118","https://openalex.org/W2903939895","https://openalex.org/W2911663758","https://openalex.org/W2950195592","https://openalex.org/W3037942178","https://openalex.org/W3194342011"],"related_works":["https://openalex.org/W2036697162","https://openalex.org/W2140812588","https://openalex.org/W2411113819","https://openalex.org/W2072887367","https://openalex.org/W2332386680","https://openalex.org/W2561315646","https://openalex.org/W2248621902","https://openalex.org/W2003779889","https://openalex.org/W2164760767","https://openalex.org/W4205698120"],"abstract_inverted_index":{"Industrial":[0],"robots":[1],"require":[2],"force":[3,33,55],"controllability":[4,34,56],"and":[5,37,98,125,130],"impact":[6,38,64,78,132],"resistance":[7,65,79,133],"to":[8,19,75,94],"ensure":[9],"safe":[10],"physical":[11],"interactions.":[12],"An":[13],"electro-hydrostaic":[14],"actuator":[15],"(EHA)":[16],"is":[17,70],"expected":[18],"be":[20],"suitable":[21],"for":[22,109],"such":[23],"applications":[24],"because":[25],"it":[26],"has":[27],"high":[28],"backdrivability":[29,128],"which":[30],"improve":[31],"both":[32],"at":[35],"contact":[36],"resistance.":[39],"However,":[40,62],"EHAs":[41,88],"had":[42],"been":[43],"rarely":[44],"used":[45],"in":[46],"multi-axes":[47],"robotic":[48],"systems.":[49],"The":[50],"previous":[51],"works":[52],"validated":[53],"the":[54,58,63,77,81,100,107,110,115,121,127,131],"of":[57,66,80,117],"EHA-driven":[59,68,83,101],"robot":[60,69,103],"Hydra.":[61],"an":[67],"still":[71],"unclear.":[72],"In":[73],"order":[74],"evaluate":[76],"high-power":[82],"robot,":[84],"we":[85],"developed":[86,99],"high-pressure":[87],"employing":[89],"ceramics":[90],"as":[91,106],"rigid":[92],"material":[93],"reduce":[95],"internal":[96],"leakage,":[97],"6-DOF":[102],"arm":[104],"Hydracer":[105,118],"platform":[108],"evaluation.":[111,134],"This":[112],"paper":[113],"describes":[114],"mechanism":[116],"especially":[119],"on":[120],"base":[122],"3-DOF":[123],"mechanism,":[124],"conducts":[126],"measurement":[129]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}