{"id":"https://openalex.org/W4312849363","doi":"https://doi.org/10.1109/iros47612.2022.9981571","title":"A Control Architecture of a Distributed Actuator System for a Bio-Inspired Spine","display_name":"A Control Architecture of a Distributed Actuator System for a Bio-Inspired Spine","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312849363","doi":"https://doi.org/10.1109/iros47612.2022.9981571"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981571","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/A5088474840","display_name":"Bonhyun Ku","orcid":"https://orcid.org/0000-0002-8018-4625"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Bonhyun Ku","raw_affiliation_strings":["University of Illinois at Urbana-Champaign,Department of Electrical and Computer Engineering,Urbana,IL,USA","Department of Electrical and Computer Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, USA"],"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana-Champaign,Department of Electrical and Computer Engineering,Urbana,IL,USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048883575","display_name":"Arijit Banerjee","orcid":"https://orcid.org/0000-0001-9568-2371"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arijit Banerjee","raw_affiliation_strings":["University of Illinois at Urbana-Champaign,Department of Electrical and Computer Engineering,Urbana,IL,USA","Department of Electrical and Computer Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, USA"],"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana-Champaign,Department of Electrical and Computer Engineering,Urbana,IL,USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5088474840"],"corresponding_institution_ids":["https://openalex.org/I157725225"],"apc_list":null,"apc_paid":null,"fwci":0.3206,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.52112251,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"5781","last_page":"5786"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.9994000196456909,"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":0.9908000230789185,"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/actuator","display_name":"Actuator","score":0.762794017791748},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6034056544303894},{"id":"https://openalex.org/keywords/spine","display_name":"SPINE (molecular biology)","score":0.5751928687095642},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5696665644645691},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4842190742492676},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.44472232460975647},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.43930381536483765},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.43687495589256287},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43131938576698303},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4180907607078552},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.413251668214798},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.318702757358551},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19086992740631104},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1588422954082489},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1539050042629242}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.762794017791748},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6034056544303894},{"id":"https://openalex.org/C205383261","wikidata":"https://www.wikidata.org/wiki/Q7392570","display_name":"SPINE (molecular biology)","level":2,"score":0.5751928687095642},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5696665644645691},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4842190742492676},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44472232460975647},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.43930381536483765},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.43687495589256287},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43131938576698303},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4180907607078552},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.413251668214798},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.318702757358551},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19086992740631104},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1588422954082489},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1539050042629242},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C153911025","wikidata":"https://www.wikidata.org/wiki/Q7202","display_name":"Molecular biology","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},{"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/iros47612.2022.9981571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981571","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":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.7400000095367432}],"awards":[{"id":"https://openalex.org/G2946414001","display_name":null,"funder_award_id":"1943791","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1508397200","https://openalex.org/W1582489346","https://openalex.org/W1972518516","https://openalex.org/W2020175396","https://openalex.org/W2038633664","https://openalex.org/W2044407138","https://openalex.org/W2050014769","https://openalex.org/W2052309329","https://openalex.org/W2092963446","https://openalex.org/W2159220301","https://openalex.org/W2567903673","https://openalex.org/W2569517946","https://openalex.org/W2739135559","https://openalex.org/W2794826238","https://openalex.org/W2801910602","https://openalex.org/W2908957748","https://openalex.org/W2966771237","https://openalex.org/W3003827592","https://openalex.org/W3127964809","https://openalex.org/W3169214766","https://openalex.org/W4200157019"],"related_works":["https://openalex.org/W2808213426","https://openalex.org/W2016759238","https://openalex.org/W2807711811","https://openalex.org/W2808279233","https://openalex.org/W2410022838","https://openalex.org/W1978394698","https://openalex.org/W2484469222","https://openalex.org/W4393456392","https://openalex.org/W4247955010","https://openalex.org/W3101820272"],"abstract_inverted_index":{"Control":[0],"of":[1,31,41,83],"an":[2,57],"articulated":[3],"spine":[4,45,51,86],"is":[5,24,54,75],"important":[6],"for":[7,20,34,66,72,87],"humanoids'":[8],"dynamic":[9],"and":[10,61],"balanced":[11],"motion.":[12],"Although":[13],"there":[14],"have":[15],"been":[16],"many":[17],"spinal":[18],"structures":[19],"humanoids,":[21],"their":[22],"actuation":[23],"still":[25],"limited":[26],"due":[27],"to":[28],"the":[29,67,73,80,84],"usage":[30],"geared":[32],"motors":[33],"joints.":[35],"This":[36],"paper":[37],"introduces":[38],"position":[39],"control":[40,82],"a":[42,47],"distributed":[43],"electrome-chanical":[44],"in":[46],"vertical":[48],"plane.":[49],"The":[50],"dynamics":[52],"model":[53],"approximated":[55],"as":[56],"open":[58],"chain.":[59],"Gravitational":[60],"spring":[62],"torques":[63],"are":[64],"compensated":[65],"control.":[68],"Moreover,":[69],"torque-to-current":[70],"conversion":[71],"actuator":[74],"developed.":[76],"Experimental":[77],"results":[78],"show":[79],"implemented":[81],"electromechanical":[85],"undulatory":[88],"motions.":[89]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
