{"id":"https://openalex.org/W2137629461","doi":"https://doi.org/10.1109/robot.2002.1014798","title":"An accelerometer-based joint angle sensor for heavy-duty manipulators","display_name":"An accelerometer-based joint angle sensor for heavy-duty manipulators","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2137629461","doi":"https://doi.org/10.1109/robot.2002.1014798","mag":"2137629461"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2002.1014798","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014798","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","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/A5087852808","display_name":"Farhad Ghassemi","orcid":"https://orcid.org/0009-0003-2825-1979"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"F. Ghassemi","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, BC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, BC, Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068925150","display_name":"Shahram Tafazoli","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]},{"id":"https://openalex.org/I4210111386","display_name":"Motion Metrics International (Canada)","ror":"https://ror.org/01c7dcx25","country_code":"CA","type":"company","lineage":["https://openalex.org/I4210111386"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"S. Tafazoli","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, BC, Canada","Motion Metrics International Corporation, Vancouver, BC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, BC, Canada","institution_ids":["https://openalex.org/I141945490"]},{"raw_affiliation_string":"Motion Metrics International Corporation, Vancouver, BC, Canada","institution_ids":["https://openalex.org/I4210111386"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111356409","display_name":"P.D. Lawrence","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"P.D. Lawrence","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, BC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, BC, Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005410852","display_name":"Keyvan Hashtrudi-Zaad","orcid":"https://orcid.org/0000-0003-3567-5430"},"institutions":[{"id":"https://openalex.org/I204722609","display_name":"Queen's University","ror":"https://ror.org/02y72wh86","country_code":"CA","type":"education","lineage":["https://openalex.org/I204722609"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"K. Hashtrudi-Zaad","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Queen's University, Kingston, ONT, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Queen's University, Kingston, ONT, Canada","institution_ids":["https://openalex.org/I204722609"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7093,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.84670573,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"2","issue":null,"first_page":"1771","last_page":"1776"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9908999800682068,"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/T14163","display_name":"Astronomical Observations and Instrumentation","score":0.9869999885559082,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/accelerometer","display_name":"Accelerometer","score":0.9335024356842041},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6915677189826965},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6263116598129272},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6129469871520996},{"id":"https://openalex.org/keywords/heavy-duty","display_name":"Heavy duty","score":0.5193427801132202},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.34567970037460327},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34263211488723755},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33376869559288025},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27497854828834534},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.21695995330810547},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14561912417411804},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13872668147087097},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.11761388182640076}],"concepts":[{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.9335024356842041},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6915677189826965},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6263116598129272},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6129469871520996},{"id":"https://openalex.org/C2993573757","wikidata":"https://www.wikidata.org/wiki/Q3784054","display_name":"Heavy duty","level":2,"score":0.5193427801132202},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.34567970037460327},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34263211488723755},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33376869559288025},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27497854828834534},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.21695995330810547},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14561912417411804},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13872668147087097},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.11761388182640076},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2002.1014798","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014798","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Decent work and economic growth","score":0.4099999964237213,"id":"https://metadata.un.org/sdg/8"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1496777766","https://openalex.org/W1602140364","https://openalex.org/W1766888123","https://openalex.org/W2001103481","https://openalex.org/W2087125032","https://openalex.org/W2096680411","https://openalex.org/W2288512313","https://openalex.org/W2308155881","https://openalex.org/W2478884216"],"related_works":["https://openalex.org/W2765080098","https://openalex.org/W2385749422","https://openalex.org/W2355290145","https://openalex.org/W2353465659","https://openalex.org/W3023105672","https://openalex.org/W2009888974","https://openalex.org/W2355539379","https://openalex.org/W2554858923","https://openalex.org/W2356216756","https://openalex.org/W2964738388"],"abstract_inverted_index":{"An":[0],"indirect,":[1],"self-calibrating,":[2],"easy":[3],"to":[4,64,85,104,115],"install,":[5],"and":[6,118],"robust":[7],"joint":[8,66,76],"angle":[9,35,123],"sensing":[10,124],"method":[11,21],"for":[12,24,102],"heavy-duty":[13],"manipulators":[14],"is":[15,22,49],"presented":[16],"in":[17],"this":[18],"paper.":[19],"This":[20],"suitable":[23],"the":[25,53,65,69,73,82,106,116,121],"harsh":[26],"working":[27],"environment":[28],"of":[29,55,58,94,108,120],"these":[30],"machines":[31],"where":[32],"conventional":[33],"contact-type":[34],"sensors":[36],"cannot":[37],"be":[38],"deployed,":[39],"or":[40],"problems":[41],"are":[42,78,99],"associated":[43],"with":[44],"their":[45,109],"use.":[46],"The":[47,111],"approach":[48],"based":[50],"on":[51,68],"processing":[52],"outputs":[54,84],"a":[56,91],"pair":[57],"biaxial":[59],"accelerometers":[60,103],"placed":[61],"very":[62],"close":[63],"axis":[67],"adjacent":[70],"links.":[71],"In":[72],"proposed":[74],"technique,":[75],"angles":[77],"obtained":[79],"without":[80],"integrating":[81],"accelerometer":[83],"avoid":[86],"measurement":[87],"error":[88],"accumulation":[89],"over":[90],"long":[92],"period":[93],"time.":[95],"Two":[96],"calibration":[97],"procedures":[98],"also":[100],"described":[101],"ensure":[105],"accuracy":[107,119],"measurements.":[110],"experimental":[112],"results":[113],"attest":[114],"efficiency":[117],"new":[122],"mechanism.":[125]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}