{"id":"https://openalex.org/W2573538399","doi":"https://doi.org/10.1109/lra.2017.2651946","title":"Leveraging Natural Load Dynamics With Variable Gear-Ratio Actuators","display_name":"Leveraging Natural Load Dynamics With Variable Gear-Ratio Actuators","publication_year":2017,"publication_date":"2017-01-11","ids":{"openalex":"https://openalex.org/W2573538399","doi":"https://doi.org/10.1109/lra.2017.2651946","mag":"2573538399"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2651946","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2651946","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2405.14441","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102776403","display_name":"Alexandre Girard","orcid":"https://orcid.org/0000-0002-4652-0613"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Alexandre Girard","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052171167","display_name":"H. Harry Asada","orcid":"https://orcid.org/0000-0003-3155-6223"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Harry Asada","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5102776403"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":0.9154,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.71968499,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"2","issue":"2","first_page":"741","last_page":"748"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9836999773979187,"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":0.9815999865531921,"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":0.817389726638794},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7175363898277283},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6452991366386414},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6314921975135803},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.5630091428756714},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5342117547988892},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5121498107910156},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.43760380148887634},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3346894383430481},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3235623240470886},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1505519151687622},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11752423644065857}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.817389726638794},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7175363898277283},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6452991366386414},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6314921975135803},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.5630091428756714},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5342117547988892},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5121498107910156},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.43760380148887634},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3346894383430481},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3235623240470886},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1505519151687622},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11752423644065857},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2017.2651946","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2651946","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2405.14441","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2405.14441","pdf_url":"https://arxiv.org/pdf/2405.14441","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2405.14441","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2405.14441","pdf_url":"https://arxiv.org/pdf/2405.14441","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8600000143051147}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306077","display_name":"Boeing","ror":"https://ror.org/04sm5zn07"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2573538399.pdf","grobid_xml":"https://content.openalex.org/works/W2573538399.grobid-xml"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1918580842","https://openalex.org/W1972219096","https://openalex.org/W1972837841","https://openalex.org/W2005946166","https://openalex.org/W2073136132","https://openalex.org/W2089549742","https://openalex.org/W2150237365","https://openalex.org/W2168750021","https://openalex.org/W2211370193","https://openalex.org/W2415174129","https://openalex.org/W2482549539","https://openalex.org/W2610796673","https://openalex.org/W2901136733","https://openalex.org/W4240536764","https://openalex.org/W4244462256","https://openalex.org/W6756486208"],"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/W2169474978","https://openalex.org/W785766289","https://openalex.org/W2011222276","https://openalex.org/W2185997459","https://openalex.org/W3101820272"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,55,96],"robotic":[4,29],"system":[5],"where":[6],"the":[7,20,38,59,62,75,80,126,129],"gear-ratio":[8,127],"of":[9,61,112,139],"an":[10,85,136],"actuator":[11,82,141],"is":[12,93,108],"dynamically":[13,114],"changed":[14],"to":[15,53,72,135,149],"either":[16],"leverage":[17],"or":[18],"attenuate":[19],"natural":[21,39],"load":[22,40,57,63],"dynamics.":[23],"Based":[24],"on":[25],"this":[26],"principle,":[27],"lightweight":[28],"systems":[30],"can":[31,133],"be":[32],"made":[33],"fast":[34],"and":[35,89,119,143,145],"strong;":[36],"exploiting":[37],"dynamics":[41,64],"for":[42,84],"moving":[43],"at":[44],"higher":[45],"speeds":[46],"(small":[47],"reduction":[48,66,138],"ratio),":[49],"while":[50],"also":[51,146],"able":[52],"bear":[54],"large":[56],"through":[58,117],"attenuation":[60],"(large":[65],"ratio).":[67],"A":[68],"model-based":[69],"control":[70,131],"algorithm":[71],"automatically":[73],"select":[74],"optimal":[76],"gear-ratios":[77,107],"that":[78,123],"minimize":[79],"total":[81],"torques":[83],"arbitrary":[86],"dynamic":[87],"state":[88],"expected":[90],"uncertainty":[91],"level":[92],"proposed.":[94],"Also,":[95],"novel":[97],"3-DoF":[98],"robot":[99],"arm":[100],"using":[101,128],"custom":[102],"actuators":[103],"with":[104],"two":[105],"discrete":[106],"presented.":[109],"The":[110],"advantages":[111],"gear-shifting":[113],"are":[115],"demonstrated":[116],"experiments":[118],"simulations.":[120],"Results":[121],"show":[122],"actively":[124],"changing":[125],"proposed":[130],"algorithms":[132],"lead":[134],"order-of-magnitude":[137],"necessary":[140],"torque":[142],"power,":[144],"increase":[147],"robustness":[148],"disturbances.":[150]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2017,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}