{"id":"https://openalex.org/W1967515795","doi":"https://doi.org/10.1109/ramech.2008.4681523","title":"Toward a Dynamic Model of Robotic Marionettes","display_name":"Toward a Dynamic Model of Robotic Marionettes","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W1967515795","doi":"https://doi.org/10.1109/ramech.2008.4681523","mag":"1967515795"},"language":"en","primary_location":{"id":"doi:10.1109/ramech.2008.4681523","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2008.4681523","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","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/A5000321271","display_name":"Nguyen Kim Doang","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Nguyen Kim Doang","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069536419","display_name":"Lim Kwang Yong","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lim Kwang Yong","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070605818","display_name":"Wei Dong","orcid":"https://orcid.org/0000-0001-7692-0872"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Dong Wei","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013807763","display_name":"Goh Young Koon","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Goh Young Koon","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chen I-Ming","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chen I-Ming","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yeo Song Huat","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yeo Song Huat","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086858785","display_name":"Henry Been\u2010Lirn Duh","orcid":"https://orcid.org/0000-0003-4808-6109"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Henry Been-Lirn Duh","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National University of Singapore, Singapore","School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100456957","display_name":"Kang Li","orcid":"https://orcid.org/0000-0001-6657-0522"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Li Kang","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068048419","display_name":"Su Chen Hao","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Su Chen Hao","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5000321271"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":2.4836,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.89502446,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"488","last_page":"493"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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":0.9995999932289124,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9987000226974487,"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/mechatronics","display_name":"Mechatronics","score":0.6600662469863892},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6580134630203247},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5767370462417603},{"id":"https://openalex.org/keywords/pulley","display_name":"Pulley","score":0.5736310482025146},{"id":"https://openalex.org/keywords/block-diagram","display_name":"Block diagram","score":0.5725293159484863},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5685693025588989},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.5045944452285767},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.486683189868927},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4820895493030548},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4686517119407654},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.42798686027526855},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4186481833457947},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36845117807388306},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32020652294158936},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.222367525100708},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1028185784816742},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09108138084411621}],"concepts":[{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.6600662469863892},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6580134630203247},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5767370462417603},{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.5736310482025146},{"id":"https://openalex.org/C149227320","wikidata":"https://www.wikidata.org/wiki/Q884718","display_name":"Block diagram","level":2,"score":0.5725293159484863},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5685693025588989},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.5045944452285767},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.486683189868927},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4820895493030548},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4686517119407654},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.42798686027526855},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4186481833457947},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36845117807388306},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32020652294158936},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.222367525100708},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1028185784816742},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09108138084411621},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/ramech.2008.4681523","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2008.4681523","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","raw_type":"proceedings-article"},{"id":"pmh:oai:ecite.utas.edu.au:90475","is_oa":false,"landing_page_url":"http://ecite.utas.edu.au/90475","pdf_url":null,"source":{"id":"https://openalex.org/S4306401569","display_name":"eCite Digital Repository (University of Tasmania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I129801699","host_organization_name":"University of Tasmania","host_organization_lineage":["https://openalex.org/I129801699"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Refereed Conference Paper"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/72046","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/72046","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","issn_l":null,"issn":[],"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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1552834083","https://openalex.org/W1840462473","https://openalex.org/W2052247655","https://openalex.org/W2102838235","https://openalex.org/W2109483642","https://openalex.org/W2119068017","https://openalex.org/W2154764444","https://openalex.org/W2157140252","https://openalex.org/W6676341823"],"related_works":["https://openalex.org/W2722606392","https://openalex.org/W4388034745","https://openalex.org/W2389891446","https://openalex.org/W205794235","https://openalex.org/W2776538682","https://openalex.org/W3134656980","https://openalex.org/W2384140996","https://openalex.org/W2619447971","https://openalex.org/W2214501612","https://openalex.org/W2543957088"],"abstract_inverted_index":{"Robotic":[0],"marionettes":[1,28],"are":[2,15,64],"those":[3],"mechatronic":[4],"system":[5],"in":[6,84,90],"which":[7,35],"strings":[8],"that":[9],"control":[10,25,60,63,108],"motion":[11],"of":[12,26,51,74,79,97,111],"a":[13,18,32,102],"puppet":[14],"driven":[16],"by":[17],"puppeteer":[19],"platform":[20,104],"including":[21],"motor-pulley":[22],"modules.":[23],"Systematic":[24],"robotic":[27,53],"is":[29,88],"now":[30],"still":[31],"tough":[33],"problem,":[34],"several":[36],"research":[37,106],"groups":[38],"have":[39],"been":[40],"attempting":[41],"to":[42,105],"solve.":[43],"In":[44],"this":[45],"paper,":[46],"we":[47],"present":[48],"dynamic":[49,69,86],"models":[50,70,87],"the":[52,68,72,81,85,98,107,112],"marionette":[54,113],"developed":[55],"from":[56],"Lagrange":[57],"equation.":[58],"Feed-forward":[59],"and":[61,100,109],"feedback":[62],"studied":[65],"based":[66],"on":[67],"with":[71],"illustration":[73],"block":[75],"diagrams.":[76],"A":[77],"process":[78],"identifying":[80],"parameters":[82],"appearing":[83],"presented":[89],"details.":[91],"The":[92],"modeling":[93],"provides":[94],"better":[95],"insight":[96],"system,":[99],"builds":[101],"mathematical":[103],"simulation":[110],"system.":[114]},"counts_by_year":[],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}
