{"id":"https://openalex.org/W1983815111","doi":"https://doi.org/10.1109/robio.2012.6490978","title":"FPGA-implementation of passivity-based control for elastic-joint robot","display_name":"FPGA-implementation of passivity-based control for elastic-joint robot","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W1983815111","doi":"https://doi.org/10.1109/robio.2012.6490978","mag":"1983815111"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2012.6490978","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6490978","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5100360269","display_name":"Qi Zhang","orcid":"https://orcid.org/0009-0006-1951-4898"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Zhang","raw_affiliation_strings":["Harbin Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101440677","display_name":"Zongwu Xie","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongwu Xie","raw_affiliation_strings":["Harbin Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100849943","display_name":"Hegao Cai","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hegao Cai","raw_affiliation_strings":["Harbin Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100410370","display_name":"Hong Liu","orcid":"https://orcid.org/0000-0003-3629-2626"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Liu","raw_affiliation_strings":["Harbin Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.07123334,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"271","last_page":"276"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9879999756813049,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.986299991607666,"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/computer-science","display_name":"Computer science","score":0.6515215635299683},{"id":"https://openalex.org/keywords/field-programmable-gate-array","display_name":"Field-programmable gate array","score":0.6503055095672607},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.6267108917236328},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.6237220764160156},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5450729131698608},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5136849284172058},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5108075141906738},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5007555484771729},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49971961975097656},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.47786515951156616},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.4656546711921692},{"id":"https://openalex.org/keywords/digital-signal-processing","display_name":"Digital signal processing","score":0.45318692922592163},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39230433106422424},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.33170443773269653},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31335699558258057},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22321993112564087},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10069626569747925}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6515215635299683},{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.6503055095672607},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.6267108917236328},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.6237220764160156},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5450729131698608},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5136849284172058},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5108075141906738},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5007555484771729},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49971961975097656},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.47786515951156616},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.4656546711921692},{"id":"https://openalex.org/C84462506","wikidata":"https://www.wikidata.org/wiki/Q173142","display_name":"Digital signal processing","level":2,"score":0.45318692922592163},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39230433106422424},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.33170443773269653},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31335699558258057},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22321993112564087},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10069626569747925},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2012.6490978","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6490978","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1965274418","https://openalex.org/W1965305282","https://openalex.org/W1976035732","https://openalex.org/W2001633478","https://openalex.org/W2012144291","https://openalex.org/W2047248448","https://openalex.org/W2056156187","https://openalex.org/W2097446805","https://openalex.org/W2098222699","https://openalex.org/W2104181254","https://openalex.org/W2150024155","https://openalex.org/W2151142962"],"related_works":["https://openalex.org/W4233304828","https://openalex.org/W4239268637","https://openalex.org/W2952841825","https://openalex.org/W1977819874","https://openalex.org/W2051296765","https://openalex.org/W2960878236","https://openalex.org/W153449849","https://openalex.org/W2473698078","https://openalex.org/W1876592433","https://openalex.org/W2083269738"],"abstract_inverted_index":{"The":[0,46],"work":[1],"present":[2],"a":[3,82,87],"humanoid":[4],"robot":[5],"with":[6,53],"flexible":[7],"joints":[8],"and":[9,26,36,43,69,92,98],"study":[10],"the":[11,16,22,63,79,93,96,101],"passivity":[12,23],"control":[13,24,58,62],"to":[14,61,76],"improve":[15],"tracking":[17],"performance.":[18],"First,":[19],"we":[20],"induce":[21],"function":[25],"verified":[27],"it":[28,33],"in":[29,41,49,71],"Simulink,":[30],"then":[31],"divide":[32],"into":[34],"linear":[35,47],"non-linear":[37],"part":[38,48],"which":[39],"execute":[40],"FPGA":[42,50],"DSP":[44],"respectively.":[45],"is":[51,59],"designed":[52],"hardware/software":[54],"co-design":[55],"method.":[56],"Vector":[57],"adopted":[60],"permanent":[64],"magnet":[65],"synchronous":[66],"motor":[67,80],"(PMSM)":[68],"programmed":[70],"Hardware":[72],"Description":[73],"Language":[74],"(HDL)":[75],"make":[77],"sure":[78],"be":[81],"torque":[83],"generator.":[84],"Experiments":[85],"on":[86],"robotic":[88],"manipulator":[89],"are":[90],"done":[91],"results":[94],"demonstrate":[95],"effectiveness":[97],"correctness":[99],"of":[100],"proposed":[102],"controller.":[103]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
