{"id":"https://openalex.org/W2071025484","doi":"https://doi.org/10.1109/robio.2013.6739889","title":"A highly integrated joint controller for a humanoid robot arm","display_name":"A highly integrated joint controller for a humanoid robot arm","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W2071025484","doi":"https://doi.org/10.1109/robio.2013.6739889","mag":"2071025484"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2013.6739889","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739889","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5100337456","display_name":"Zijian Zhang","orcid":"https://orcid.org/0000-0002-1634-9077"},"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":true,"raw_author_name":"Zijian Zhang","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin Heilongjiang, China","State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin Heilongjiang, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044426425","display_name":"Fenglei Ni","orcid":"https://orcid.org/0000-0002-0184-1421"},"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":"Fenglei Ni","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin Heilongjiang, China","State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin Heilongjiang, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010608135","display_name":"Yi Ren","orcid":"https://orcid.org/0000-0002-0541-3985"},"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":"Yi Ren","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin Heilongjiang, China","Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin Heilongjiang, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101525971","display_name":"Minghe Jin","orcid":"https://orcid.org/0000-0001-6643-2824"},"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":"Minghe Jin","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin Heilongjiang, China","State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin Heilongjiang, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100348074","display_name":"Yiwei Liu","orcid":"https://orcid.org/0000-0001-5260-8315"},"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":"Yiwei Liu","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin Heilongjiang, China","Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin Heilongjiang, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Harbin Institute of Technology, Harbin, China","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":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin Heilongjiang, China","Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin Heilongjiang, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100337456"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.12384246,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"12 16","issue":null,"first_page":"2743","last_page":"2748"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T10879","display_name":"Robotic Locomotion and Control","score":0.9980999827384949,"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":0.9898999929428101,"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/controller","display_name":"Controller (irrigation)","score":0.6748654246330261},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6589890718460083},{"id":"https://openalex.org/keywords/hall-effect-sensor","display_name":"Hall effect sensor","score":0.5762413740158081},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5532867908477783},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5427889823913574},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5415383577346802},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5212055444717407},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5208778381347656},{"id":"https://openalex.org/keywords/dc-motor","display_name":"DC motor","score":0.45812520384788513},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4216250777244568},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40812841057777405},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3891216218471527},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3824957013130188},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.28802162408828735},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19122233986854553},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15922671556472778},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.13844048976898193},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.06953820586204529}],"concepts":[{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6748654246330261},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6589890718460083},{"id":"https://openalex.org/C107637996","wikidata":"https://www.wikidata.org/wiki/Q1431247","display_name":"Hall effect sensor","level":3,"score":0.5762413740158081},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5532867908477783},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5427889823913574},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5415383577346802},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5212055444717407},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5208778381347656},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.45812520384788513},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4216250777244568},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40812841057777405},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3891216218471527},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3824957013130188},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28802162408828735},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19122233986854553},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15922671556472778},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.13844048976898193},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.06953820586204529},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2013.6739889","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739889","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1707608793","https://openalex.org/W2019989451","https://openalex.org/W2053036469","https://openalex.org/W2066202893","https://openalex.org/W2138671676","https://openalex.org/W2161636262"],"related_works":["https://openalex.org/W2371298107","https://openalex.org/W2357902858","https://openalex.org/W1908882403","https://openalex.org/W2160140118","https://openalex.org/W2082779873","https://openalex.org/W2541896664","https://openalex.org/W2051916995","https://openalex.org/W2051706606","https://openalex.org/W2351721234","https://openalex.org/W2765521725"],"abstract_inverted_index":{"A":[0],"highly":[1,21],"integrated":[2,22,67],"joint":[3,18,63,87,104,117],"controller":[4,19,64,105],"using":[5],"in":[6,14,54],"a":[7,89,96],"humanoid":[8],"robot":[9,80],"arm":[10],"has":[11,65,92],"been":[12,66,93],"developed":[13],"the":[15,27,30,34,37,40,52,62,79,86,100,103,107,111,116],"paper.":[16],"The":[17],"is":[20,60],"with":[23,68],"position":[24],"sensors":[25],"-":[26],"hall":[28],"sensors,":[29,39],"magnetic":[31],"sensor":[32,42,112],"and":[33,43,50,56,115,119],"photoelectrical":[35],"sensor,":[36],"torque":[38],"temperature":[41],"so":[44],"on.":[45],"Besides,":[46],"it":[47],"can":[48,122],"control":[49,121],"drive":[51,109],"motor":[53,108],"PWM":[55],"SVPWM":[57],"modes.":[58],"What":[59],"more,":[61],"five":[69],"level":[70],"emergent":[71],"condition":[72],"response":[73],"strategies":[74],"to":[75],"ensure":[76],"safety":[77],"of":[78,85,98,102],"arm.":[81],"To":[82],"test":[83],"performance":[84,101],"controller,":[88],"testing":[90],"platform":[91],"established.":[94],"Though":[95],"serious":[97],"experiments,":[99],"including":[106],"function,":[110],"information":[113],"acquisition":[114],"track":[118],"velocity":[120],"be":[123],"validated.":[124]},"counts_by_year":[{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
