{"id":"https://openalex.org/W2159256706","doi":"https://doi.org/10.1109/robot.1987.1088064","title":"Master-slave manipulator based on virtual internal model following control concept","display_name":"Master-slave manipulator based on virtual internal model following control concept","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W2159256706","doi":"https://doi.org/10.1109/robot.1987.1088064","mag":"2159256706"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1987.1088064","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1088064","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5046818372","display_name":"K. Furuta","orcid":"https://orcid.org/0000-0001-9180-9822"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Furuta","raw_affiliation_strings":["Department of Control Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082419118","display_name":"Kazuhiro Kosuge","orcid":"https://orcid.org/0000-0002-2060-2936"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Kosuge","raw_affiliation_strings":["Department of Control Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048086278","display_name":"Yoshinori Shiote","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Y. Shiote","raw_affiliation_strings":["Production Engineering Center, Yamatake-Honeywell Company Limited, Fujisawa, Kanagawa, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Production Engineering Center, Yamatake-Honeywell Company Limited, Fujisawa, Kanagawa, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040903345","display_name":"Hiroaki Hatano","orcid":"https://orcid.org/0000-0003-1511-2964"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"H. Hatano","raw_affiliation_strings":["Production Engineering Center, Yamatake-Honeywell Company Limited, Fujisawa, Kanagawa, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Production Engineering Center, Yamatake-Honeywell Company Limited, Fujisawa, Kanagawa, Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.4763,"has_fulltext":false,"cited_by_count":63,"citation_normalized_percentile":{"value":0.89535704,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"4","issue":null,"first_page":"567","last_page":"572"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.998199999332428,"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/T13827","display_name":"Mechatronics Education and Applications","score":0.9433000087738037,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/master/slave","display_name":"Master/slave","score":0.8772473335266113},{"id":"https://openalex.org/keywords/internal-model","display_name":"Internal model","score":0.640140175819397},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5909233093261719},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5453835725784302},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5377564430236816},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49858999252319336},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4961434304714203},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.43970295786857605},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.4338519275188446},{"id":"https://openalex.org/keywords/relation","display_name":"Relation (database)","score":0.4185423254966736},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4179246425628662},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34424710273742676},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2914397120475769},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22432667016983032}],"concepts":[{"id":"https://openalex.org/C20454292","wikidata":"https://www.wikidata.org/wiki/Q735523","display_name":"Master/slave","level":2,"score":0.8772473335266113},{"id":"https://openalex.org/C28427503","wikidata":"https://www.wikidata.org/wiki/Q13580300","display_name":"Internal model","level":3,"score":0.640140175819397},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5909233093261719},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5453835725784302},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5377564430236816},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49858999252319336},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4961434304714203},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.43970295786857605},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.4338519275188446},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.4185423254966736},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4179246425628662},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34424710273742676},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2914397120475769},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22432667016983032},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","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":1,"locations":[{"id":"doi:10.1109/robot.1987.1088064","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1088064","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.41999998688697815},{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W1622032610","https://openalex.org/W2050043469","https://openalex.org/W2098993416","https://openalex.org/W2151226865","https://openalex.org/W6636462515"],"related_works":["https://openalex.org/W2393977490","https://openalex.org/W2038930466","https://openalex.org/W1997122515","https://openalex.org/W2166323405","https://openalex.org/W2366856298","https://openalex.org/W2376007266","https://openalex.org/W2067594477","https://openalex.org/W2385739135","https://openalex.org/W1981988083","https://openalex.org/W2394251694"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,58,65,70],"new":[4],"control":[5,48],"method":[6],"of":[7,14,64,69,88],"master-slave":[8,23,107],"manipulators":[9],"based":[10,37,95],"on":[11,38,96],"the":[12,22,46,50,62,86,97,106,116],"concept":[13],"Virtual":[15],"Internal":[16],"Model":[17],"Following":[18],"Control,":[19],"which":[20,29],"realizes":[21],"manipulator":[24,108],"system":[25],"with":[26,109],"various":[27],"functions":[28],"assist":[30],"operators":[31],"as":[32,34,119,121],"well":[33,120],"bilateral":[35,122],"feedback":[36,123],"external":[39,73,117],"information":[40,74,118],"from":[41],"sensors":[42,77],"or":[43,78],"others.":[44],"In":[45],"proposed":[47,100],"system,":[49],"virtual":[51],"internal":[52],"model":[53],"is":[54,102,124],"introduced":[55],"to":[56,82,105,115],"describe":[57],"desired":[59,113],"relation":[60],"between":[61],"motion":[63],"master":[66,89],"and":[67,85,90,112],"that":[68],"slave.":[71],"The":[72,99],"detected":[75],"by":[76],"others":[79],"are":[80,93],"applied":[81,104],"this":[83],"model,":[84],"motions":[87],"slave":[91],"arms":[92],"controlled":[94],"model.":[98],"algorithm":[101],"experimentaly":[103],"force":[110],"sensors,":[111],"response":[114],"realized.":[125]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}