{"id":"https://openalex.org/W4312960506","doi":"https://doi.org/10.1109/iros47612.2022.9981201","title":"DRPD, Dual Reduction Ratio Planetary Drive for Articulated Robot Actuators","display_name":"DRPD, Dual Reduction Ratio Planetary Drive for Articulated Robot Actuators","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312960506","doi":"https://doi.org/10.1109/iros47612.2022.9981201"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981201","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981201","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":"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/A5001497374","display_name":"Tae-Gyu Song","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Tae-Gyu Song","raw_affiliation_strings":["Humanoid Research Center,School of Mechanical, Aerospace & Systems Engineering,Department of Mechanical Engineering Korea Advanced Institute of Science and Technology,Yuseong-gu,Daejeon,Republic of Korea,34141"],"affiliations":[{"raw_affiliation_string":"Humanoid Research Center,School of Mechanical, Aerospace & Systems Engineering,Department of Mechanical Engineering Korea Advanced Institute of Science and Technology,Yuseong-gu,Daejeon,Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016125108","display_name":"Young-Ha Shin","orcid":"https://orcid.org/0000-0002-1475-0027"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Young-Ha Shin","raw_affiliation_strings":["Humanoid Research Center,School of Mechanical, Aerospace & Systems Engineering,Department of Mechanical Engineering Korea Advanced Institute of Science and Technology,Yuseong-gu,Daejeon,Republic of Korea,34141"],"affiliations":[{"raw_affiliation_string":"Humanoid Research Center,School of Mechanical, Aerospace & Systems Engineering,Department of Mechanical Engineering Korea Advanced Institute of Science and Technology,Yuseong-gu,Daejeon,Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039870385","display_name":"Seungwoo Hong","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seungwoo Hong","raw_affiliation_strings":["Humanoid Research Center,School of Mechanical, Aerospace & Systems Engineering,Department of Mechanical Engineering Korea Advanced Institute of Science and Technology,Yuseong-gu,Daejeon,Republic of Korea,34141"],"affiliations":[{"raw_affiliation_string":"Humanoid Research Center,School of Mechanical, Aerospace & Systems Engineering,Department of Mechanical Engineering Korea Advanced Institute of Science and Technology,Yuseong-gu,Daejeon,Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034632732","display_name":"Hyungho Chris Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyungho Chris Choi","raw_affiliation_strings":["Humanoid Research Center,School of Mechanical, Aerospace & Systems Engineering,Department of Mechanical Engineering Korea Advanced Institute of Science and Technology,Yuseong-gu,Daejeon,Republic of Korea,34141"],"affiliations":[{"raw_affiliation_string":"Humanoid Research Center,School of Mechanical, Aerospace & Systems Engineering,Department of Mechanical Engineering Korea Advanced Institute of Science and Technology,Yuseong-gu,Daejeon,Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056430935","display_name":"Joon-Ha Kim","orcid":"https://orcid.org/0000-0003-4928-9696"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Joon-Ha Kim","raw_affiliation_strings":["Humanoid Research Center,School of Mechanical, Aerospace & Systems Engineering,Department of Mechanical Engineering Korea Advanced Institute of Science and Technology,Yuseong-gu,Daejeon,Republic of Korea,34141"],"affiliations":[{"raw_affiliation_string":"Humanoid Research Center,School of Mechanical, Aerospace & Systems Engineering,Department of Mechanical Engineering Korea Advanced Institute of Science and Technology,Yuseong-gu,Daejeon,Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090151532","display_name":"Hae-Won Park","orcid":"https://orcid.org/0000-0001-6130-6589"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hae-Won Park","raw_affiliation_strings":["Humanoid Research Center,School of Mechanical, Aerospace & Systems Engineering,Department of Mechanical Engineering Korea Advanced Institute of Science and Technology,Yuseong-gu,Daejeon,Republic of Korea,34141"],"affiliations":[{"raw_affiliation_string":"Humanoid Research Center,School of Mechanical, Aerospace & Systems Engineering,Department of Mechanical Engineering Korea Advanced Institute of Science and Technology,Yuseong-gu,Daejeon,Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5001497374"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":1.2826,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.8086904,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"443","last_page":"450"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9990000128746033,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9983999729156494,"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/dual","display_name":"Dual (grammatical number)","score":0.7763274908065796},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7270132899284363},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.7257230281829834},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5557006001472473},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48764124512672424},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35951894521713257},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22482037544250488},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12186229228973389},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08354943990707397},{"id":"https://openalex.org/keywords/art","display_name":"Art","score":0.0688897967338562}],"concepts":[{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.7763274908065796},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7270132899284363},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.7257230281829834},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5557006001472473},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48764124512672424},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35951894521713257},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22482037544250488},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12186229228973389},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08354943990707397},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0688897967338562},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981201","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981201","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":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1972837841","https://openalex.org/W1980780059","https://openalex.org/W2145609627","https://openalex.org/W2211370193","https://openalex.org/W2307047021","https://openalex.org/W2573227850","https://openalex.org/W2773451156","https://openalex.org/W2785527852","https://openalex.org/W2885115710","https://openalex.org/W2966960409","https://openalex.org/W2980985927","https://openalex.org/W3002174616","https://openalex.org/W3004428633","https://openalex.org/W3028167303","https://openalex.org/W4250058668","https://openalex.org/W6637043611"],"related_works":["https://openalex.org/W2490690736","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2080330449","https://openalex.org/W2007221537","https://openalex.org/W785766289","https://openalex.org/W2011222276","https://openalex.org/W2185997459","https://openalex.org/W2967125373","https://openalex.org/W2063875960"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,74],"reduction":[4,16,43,75,114],"mechanism":[5,57,66],"for":[6,64,81],"robot":[7],"actuators":[8],"that":[9,103,116],"can":[10,40,89],"switch":[11],"between":[12],"two":[13,113],"types":[14],"of":[15,25,51,77,98],"ratio.":[17,44],"By":[18],"fixing":[19],"the":[20,26,33,38,52,95,104],"carrier":[21],"or":[22],"ring":[23],"gear":[24,120],"proposed":[27,105],"actuator":[28,39,106],"which":[29],"is":[30,67],"based":[31],"on":[32],"3K":[34],"compound":[35],"planetary":[36],"drive,":[37],"shift":[41],"its":[42,109],"For":[45],"compact":[46],"design":[47],"with":[48,59,119],"reduced":[49],"weight":[50],"actuator,":[53],"unique":[54],"pawl":[55],"brake":[56],"interacting":[58],"cams":[60],"and":[61,79,83],"micro":[62],"servos":[63],"switching":[65],"designed.":[68],"The":[69],"resulting":[70],"prototype":[71],"module":[72],"has":[73],"ratio":[76],"6.91":[78],"44.93":[80],"\u2018low-reduction\u2019":[82],"\u2018high-reduction\u2019":[84],"ratios,":[85],"respectively.":[86],"Reduction":[87],"ratios":[88],"be":[90],"easily":[91],"adjusted":[92],"by":[93],"modifying":[94],"pitch":[96],"diameters":[97],"gears.":[99],"Experimental":[100],"results":[101],"demonstrate":[102],"could":[107],"extend":[108],"operation":[110],"region":[111],"via":[112],"modes":[115],"are":[117],"interchangeable":[118],"shifting.":[121]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}