{"id":"https://openalex.org/W3197961851","doi":"https://doi.org/10.1109/rcar52367.2021.9517515","title":"Inverse Kinematics and Master-Slave Control for a 7-DoF Tendon-Driven Humanoid Robot Arm","display_name":"Inverse Kinematics and Master-Slave Control for a 7-DoF Tendon-Driven Humanoid Robot Arm","publication_year":2021,"publication_date":"2021-07-15","ids":{"openalex":"https://openalex.org/W3197961851","doi":"https://doi.org/10.1109/rcar52367.2021.9517515","mag":"3197961851"},"language":"en","primary_location":{"id":"doi:10.1109/rcar52367.2021.9517515","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517515","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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/A5101930292","display_name":"Zhenyu Sun","orcid":"https://orcid.org/0000-0002-7332-8897"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Zhenyu Sun","raw_affiliation_strings":["Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101634654","display_name":"Wenyang Li","orcid":"https://orcid.org/0000-0001-9499-7435"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Wenyang Li","raw_affiliation_strings":["Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033070569","display_name":"Xiaobei Jing","orcid":null},"institutions":[{"id":"https://openalex.org/I4210105595","display_name":"Institute of Art","ror":"https://ror.org/017fyx225","country_code":"PL","type":"facility","lineage":["https://openalex.org/I4210105595","https://openalex.org/I99542240"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN","JP","PL"],"is_corresponding":false,"raw_author_name":"Xiaobei Jing","raw_affiliation_strings":["Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Tokyo, Japan","SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society","Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences (CAS), Shenzhen, Guangdong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]},{"raw_affiliation_string":"SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society","institution_ids":["https://openalex.org/I4210105595"]},{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences (CAS), Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014986852","display_name":"Yong Xu","orcid":"https://orcid.org/0000-0003-0515-7181"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]},{"id":"https://openalex.org/I4210105595","display_name":"Institute of Art","ror":"https://ror.org/017fyx225","country_code":"PL","type":"facility","lineage":["https://openalex.org/I4210105595","https://openalex.org/I99542240"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN","JP","PL"],"is_corresponding":false,"raw_author_name":"Xu Yong","raw_affiliation_strings":["Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Tokyo, Japan","SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society","Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences (CAS), Shenzhen, Guangdong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]},{"raw_affiliation_string":"SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society","institution_ids":["https://openalex.org/I4210105595"]},{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences (CAS), Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076935808","display_name":"Yinlai Jiang","orcid":"https://orcid.org/0000-0002-0825-6444"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yinlai Jiang","raw_affiliation_strings":["Center for Neuroscience and Biomedical Engineering, The University of Electro-communications, Tokyo, Japan","Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Center for Neuroscience and Biomedical Engineering, The University of Electro-communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057191362","display_name":"Hiroshi Yokoi","orcid":"https://orcid.org/0000-0001-8571-1175"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Yokoi","raw_affiliation_strings":["Center for Neuroscience and Biomedical Engineering, The University of Electro-communications, Tokyo, Japan","Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Center for Neuroscience and Biomedical Engineering, The University of Electro-communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101930292"],"corresponding_institution_ids":["https://openalex.org/I20529979"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11437027,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"171","last_page":"176"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9944000244140625,"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":0.9735999703407288,"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/inverse-kinematics","display_name":"Inverse kinematics","score":0.7692989706993103},{"id":"https://openalex.org/keywords/arm-solution","display_name":"Arm solution","score":0.7433345317840576},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.7209031581878662},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.6322194337844849},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5968774557113647},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.567365288734436},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5613437294960022},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.535997211933136},{"id":"https://openalex.org/keywords/bang-bang-robot","display_name":"Bang-bang robot","score":0.48194217681884766},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4770890176296234},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.472177654504776},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.47119948267936707},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44451838731765747},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.4256644546985626},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38085678219795227},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3780513405799866},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.31283047795295715},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30314284563064575},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.059614360332489014}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7692989706993103},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.7433345317840576},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.7209031581878662},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.6322194337844849},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5968774557113647},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.567365288734436},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5613437294960022},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.535997211933136},{"id":"https://openalex.org/C584957","wikidata":"https://www.wikidata.org/wiki/Q4854909","display_name":"Bang-bang robot","level":5,"score":0.48194217681884766},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4770890176296234},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.472177654504776},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.47119948267936707},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44451838731765747},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.4256644546985626},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38085678219795227},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3780513405799866},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31283047795295715},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30314284563064575},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.059614360332489014},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar52367.2021.9517515","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517515","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.6800000071525574,"display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G7801034165","display_name":null,"funder_award_id":"JP18H03761,JP19K12877","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320321034","display_name":"New Energy and Industrial Technology Development Organization","ror":"https://ror.org/0055k7a87"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W153839497","https://openalex.org/W2015403432","https://openalex.org/W2042687570","https://openalex.org/W2148647901","https://openalex.org/W2159917092","https://openalex.org/W2161618198","https://openalex.org/W2527448032","https://openalex.org/W2549015685","https://openalex.org/W2569137391","https://openalex.org/W2811017842","https://openalex.org/W2910998559","https://openalex.org/W3111083025","https://openalex.org/W6786848072"],"related_works":["https://openalex.org/W3044674998","https://openalex.org/W2139206564","https://openalex.org/W2160983430","https://openalex.org/W4255006717","https://openalex.org/W2124086581","https://openalex.org/W3129004068","https://openalex.org/W4242231179","https://openalex.org/W4376456253","https://openalex.org/W2112883795","https://openalex.org/W2974577080"],"abstract_inverted_index":{"In":[0,79],"recent":[1],"years,":[2],"the":[3,36,42,46,50,63,66,70,76,82,88,96,142,146,149,153,157,169,172,177,181,189,193,198,202,205,209,214,217],"master-slave":[4,199],"control":[5,27,38,168,218],"system":[6,28,85],"has":[7,138],"been":[8,139],"widely":[9],"used":[10,116,166],"in":[11,30],"complex":[12],"precision":[13],"operations":[14],"and":[15,68,156,162],"high-risk":[16],"locations":[17],"such":[18],"as":[19,117,134,204],"nuclear":[20],"environment,":[21],"marine,":[22],"medical,":[23],"aerospace,":[24],"etc.":[25],"The":[26,58,184],"designed":[29],"this":[31,80,123],"research":[32],"is":[33,60,93,115,160,165,200],"based":[34,86],"on":[35,87],"risk":[37],"principle,":[39],"which":[40,212],"isolates":[41],"hazard":[43],"source":[44],"from":[45,72],"operator":[47,51,71],"so":[48],"that":[49,188],"can":[52],"operate":[53],"accurately":[54],"through":[55,176],"remote":[56],"control.":[57],"purpose":[59],"to":[61,167],"ensure":[62],"accuracy":[64],"of":[65,108,145,171,180,192,208,216],"operation":[67],"prevent":[69],"being":[73],"injured":[74],"by":[75,104,197],"working":[77],"environment.":[78],"paper,":[81],"master":[83],"robot":[84,101,113,120,147,158,174,194],"Robot":[89],"Operating":[90],"System":[91],"(ROS)":[92],"established":[94],"under":[95],"Linux":[97],"system.":[98,121],"A":[99],"humanoid":[100],"arm":[102,114,155,159,175,195],"driven":[103,112],"a":[105,118],"7":[106],"degree":[107],"freedom":[109],"(7-DoF)":[110],"tendon":[111],"slave":[119],"On":[122],"platform,":[124],"an":[125,129,135],"interactive":[126],"interface":[127],"with":[128],"electromagnetic":[130],"position":[131,191,207],"tracking":[132],"sensor":[133],"input":[136],"device":[137],"developed.":[140],"Through":[141],"kinematics":[143,164],"model":[144],"arm,":[148,211],"mapping":[150],"relationship":[151],"between":[152],"human":[154,182,210],"established,":[161],"inverse":[163],"movement":[170],"subordinate":[173],"posture":[178],"information":[179],"arm.":[183],"experimental":[185],"results":[186],"show":[187],"end":[190,206],"controlled":[196],"roughly":[201],"same":[203],"proves":[213],"effectiveness":[215],"strategy.":[219]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
