{"id":"https://openalex.org/W2952211129","doi":"https://doi.org/10.1109/jas.2019.1911549","title":"Static Force-Based Modeling and Parameter Estimation for a Deformable Link Composed of Passive Spherical Joints With Preload Forces","display_name":"Static Force-Based Modeling and Parameter Estimation for a Deformable Link Composed of Passive Spherical Joints With Preload Forces","publication_year":2019,"publication_date":"2019-06-19","ids":{"openalex":"https://openalex.org/W2952211129","doi":"https://doi.org/10.1109/jas.2019.1911549","mag":"2952211129"},"language":"en","primary_location":{"id":"doi:10.1109/jas.2019.1911549","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jas.2019.1911549","pdf_url":null,"source":{"id":"https://openalex.org/S2484288132","display_name":"IEEE/CAA Journal of Automatica Sinica","issn_l":"2329-9266","issn":["2329-9266","2329-9274"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/CAA Journal of Automatica Sinica","raw_type":"journal-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/A5100726488","display_name":"Gaofeng Li","orcid":"https://orcid.org/0000-0002-9369-2928"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["CN","IT"],"is_corresponding":true,"raw_author_name":"Gaofeng Li","raw_affiliation_strings":["Humanoids and Human Centered Mechatronics Research Line, Italian Institute of Technology, Genova, Italy","Nankai University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Humanoids and Human Centered Mechatronics Research Line, Italian Institute of Technology, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054819263","display_name":"Dezhen Song","orcid":"https://orcid.org/0000-0002-2944-5754"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dezhen Song","raw_affiliation_strings":["Department of Computer Science and Engineering, Texas A&M University, College Station, Texas, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Texas A&M University, College Station, Texas, USA","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021631382","display_name":"Lei Sun","orcid":"https://orcid.org/0000-0002-8886-9012"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Sun","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101406452","display_name":"Shan Xu","orcid":"https://orcid.org/0000-0001-7076-4223"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shan Xu","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100608725","display_name":"Hongpeng Wang","orcid":"https://orcid.org/0000-0003-4488-1375"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongpeng Wang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030233306","display_name":"Jingtai Liu","orcid":"https://orcid.org/0000-0003-2645-5655"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingtai Liu","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100726488"],"corresponding_institution_ids":["https://openalex.org/I205237279","https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.05482344,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"8","issue":"11","first_page":"1817","last_page":"1826"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994000196456909,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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":0.9983999729156494,"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/preload","display_name":"Preload","score":0.8095651865005493},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.46622374653816223},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.4457116723060608},{"id":"https://openalex.org/keywords/bearing","display_name":"Bearing (navigation)","score":0.43887609243392944},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4019092619419098},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3976619839668274},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.39735639095306396},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2833606004714966},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20943084359169006},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.20611584186553955},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17081424593925476},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.14072185754776}],"concepts":[{"id":"https://openalex.org/C48277249","wikidata":"https://www.wikidata.org/wiki/Q1406926","display_name":"Preload","level":3,"score":0.8095651865005493},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.46622374653816223},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.4457116723060608},{"id":"https://openalex.org/C199978012","wikidata":"https://www.wikidata.org/wiki/Q1273815","display_name":"Bearing (navigation)","level":2,"score":0.43887609243392944},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4019092619419098},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3976619839668274},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.39735639095306396},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2833606004714966},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20943084359169006},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.20611584186553955},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17081424593925476},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.14072185754776},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C178853913","wikidata":"https://www.wikidata.org/wiki/Q1642137","display_name":"Hemodynamics","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jas.2019.1911549","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jas.2019.1911549","pdf_url":null,"source":{"id":"https://openalex.org/S2484288132","display_name":"IEEE/CAA Journal of Automatica Sinica","issn_l":"2329-9266","issn":["2329-9266","2329-9274"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/CAA Journal of Automatica Sinica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.4300000071525574}],"awards":[{"id":"https://openalex.org/G1428623851","display_name":null,"funder_award_id":"15JCZDJC31200","funder_id":"https://openalex.org/F4320323993","funder_display_name":"Natural Science Foundation of Tianjin City"},{"id":"https://openalex.org/G8757813691","display_name":null,"funder_award_id":"61573198,61375087","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323993","display_name":"Natural Science Foundation of Tianjin City","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W242503227","https://openalex.org/W966441290","https://openalex.org/W1265086150","https://openalex.org/W1581933767","https://openalex.org/W1927433238","https://openalex.org/W1966854684","https://openalex.org/W1970557511","https://openalex.org/W1982082424","https://openalex.org/W1988003703","https://openalex.org/W2007903053","https://openalex.org/W2036723211","https://openalex.org/W2046035438","https://openalex.org/W2057793398","https://openalex.org/W2063706473","https://openalex.org/W2097196302","https://openalex.org/W2107713175","https://openalex.org/W2118585523","https://openalex.org/W2176662942","https://openalex.org/W2318613964","https://openalex.org/W2419516117","https://openalex.org/W2462654948","https://openalex.org/W2517164784","https://openalex.org/W2527141411","https://openalex.org/W2592385337","https://openalex.org/W3008679443","https://openalex.org/W3087904604","https://openalex.org/W3125605919","https://openalex.org/W6734385754"],"related_works":["https://openalex.org/W1983636353","https://openalex.org/W2087605647","https://openalex.org/W3152477109","https://openalex.org/W2996509040","https://openalex.org/W4238412064","https://openalex.org/W1499376059","https://openalex.org/W2060713202","https://openalex.org/W2005025510","https://openalex.org/W34888567","https://openalex.org/W2587606153"],"abstract_inverted_index":{"To":[0,43],"balance":[1],"the":[2,45,67,72,81,109,129],"contradiction":[3],"between":[4,40],"higher":[5],"flexibility":[6],"and":[7,25,65,96,114],"heavier":[8],"load":[9,46,82],"bearing":[10,47,83],"capacity,":[11],"we":[12,53],"present":[13,54],"a":[14,50,55,86,103],"novel":[15],"deformable":[16,26,29,51,73],"manipulator":[17],"which":[18],"is":[19,31],"composed":[20,32],"of":[21,33,49,59,85,111,125],"active":[22],"rigid":[23],"joints":[24,36],"links.":[27],"The":[28,118],"link":[30],"passive":[34],"spherical":[35,60,87],"with":[37,62],"preload":[38,63,94,112],"forces":[39],"socket-ball":[41],"surfaces.":[42],"estimate":[44,108],"capacity":[48,84],"link,":[52],"static":[56,68,97,115],"force-based":[57],"model":[58],"joint":[61,88],"force":[64,69,113],"analyze":[66],"propagation":[70],"in":[71],"link.":[74],"This":[75],"yields":[76],"an":[77],"important":[78],"result":[79],"that":[80],"only":[89],"depends":[90],"on":[91,128],"its":[92],"radius,":[93],"force,":[95],"friction":[98,116],"coefficient.":[99,117],"We":[100],"further":[101],"develop":[102],"parameter":[104],"estimation":[105],"method":[106],"to":[107],"product":[110],"experimental":[119],"results":[120],"validate":[121],"our":[122],"model.":[123],"80.4%":[124],"percentage":[126],"errors":[127],"maximum":[130],"payload":[131],"mass":[132],"prediction":[133],"are":[134],"below":[135],"15%.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}