{"id":"https://openalex.org/W2109245048","doi":"https://doi.org/10.1109/robot.2003.1241683","title":"An in-parallel actuated manipulator with redundant actuators for gross and fine motions","display_name":"An in-parallel actuated manipulator with redundant actuators for gross and fine motions","publication_year":2004,"publication_date":"2004-03-01","ids":{"openalex":"https://openalex.org/W2109245048","doi":"https://doi.org/10.1109/robot.2003.1241683","mag":"2109245048"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1241683","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241683","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","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/A5020891237","display_name":"Yukio Takeda","orcid":"https://orcid.org/0000-0002-6910-3329"},"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":"Y. Takeda","raw_affiliation_strings":["Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014676265","display_name":"Hisakage Funabashi","orcid":"https://orcid.org/0000-0003-2330-1503"},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Funabashi","raw_affiliation_strings":["Tochigi R&D Center AP Research Department, Honda Research and Development Company Limited, Haga, Tochigi, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tochigi R&D Center AP Research Department, Honda Research and Development Company Limited, Haga, Tochigi, Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108666172","display_name":"Kazuki ICHIKAWA","orcid":null},"institutions":[{"id":"https://openalex.org/I171481255","display_name":"Shibaura Institute of Technology","ror":"https://ror.org/020wjcq07","country_code":"JP","type":"education","lineage":["https://openalex.org/I171481255"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Ichikawa","raw_affiliation_strings":["Department of Mechanical Engineering, Shibaura Institute of Technology, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Shibaura Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I171481255"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021055774","display_name":"Kazuya Hirose","orcid":null},"institutions":[{"id":"https://openalex.org/I4210139203","display_name":"Seiko Holdings (Japan)","ror":"https://ror.org/042n1zz26","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210139203"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Hirose","raw_affiliation_strings":["Hephaist Seiko Company Limited, Kawagoe, Saitama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hephaist Seiko Company Limited, Kawagoe, Saitama, Japan","institution_ids":["https://openalex.org/I4210139203"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.3879,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.93657831,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"749","last_page":"754"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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":0.9955999851226807,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9951000213623047,"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/parallel-manipulator","display_name":"Parallel manipulator","score":0.8123801350593567},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8047788143157959},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7428039312362671},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7381435036659241},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.6662826538085938},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5731812715530396},{"id":"https://openalex.org/keywords/infinitesimal","display_name":"Infinitesimal","score":0.5191763639450073},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5087321400642395},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4842802882194519},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3802724778652191},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37760230898857117},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.34143754839897156},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27862873673439026},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23637762665748596},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20729371905326843},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15483307838439941},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12082573771476746},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11977565288543701}],"concepts":[{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.8123801350593567},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8047788143157959},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7428039312362671},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7381435036659241},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.6662826538085938},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5731812715530396},{"id":"https://openalex.org/C91229774","wikidata":"https://www.wikidata.org/wiki/Q193885","display_name":"Infinitesimal","level":2,"score":0.5191763639450073},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5087321400642395},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4842802882194519},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3802724778652191},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37760230898857117},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.34143754839897156},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27862873673439026},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23637762665748596},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20729371905326843},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15483307838439941},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12082573771476746},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11977565288543701},{"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","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},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2003.1241683","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241683","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6399999856948853,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"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":12,"referenced_works":["https://openalex.org/W1555993017","https://openalex.org/W2027532870","https://openalex.org/W2034820458","https://openalex.org/W2041443031","https://openalex.org/W2077549894","https://openalex.org/W2088658904","https://openalex.org/W2127251785","https://openalex.org/W3034178548","https://openalex.org/W3037085939","https://openalex.org/W6778461836","https://openalex.org/W6780314448","https://openalex.org/W7034255116"],"related_works":["https://openalex.org/W2145154791","https://openalex.org/W2393977490","https://openalex.org/W2996063054","https://openalex.org/W2038930466","https://openalex.org/W1997122515","https://openalex.org/W2361688797","https://openalex.org/W2166323405","https://openalex.org/W2366856298","https://openalex.org/W2152470674","https://openalex.org/W192519934"],"abstract_inverted_index":{"We":[0],"propose":[1],"an":[2,33],"in-parallel":[3],"actuate":[4],"mechanism":[5],"that":[6],"can":[7],"simultaneously":[8],"realize":[9],"fine":[10,48],"positioning":[11,49],"resolution":[12],"and":[13,18,39],"a":[14,27],"large":[15],"working":[16],"space,":[17],"we":[19,40],"discuss":[20,41],"its":[21,47],"infinitesimal":[22],"displacement":[23],"characteristics.":[24,50],"Based":[25],"on":[26],"kinematic":[28],"synthesis":[29],"of":[30,44],"this":[31],"mechanism,":[32],"experimental":[34],"manipulator":[35],"has":[36],"been":[37],"developed":[38],"the":[42],"results":[43],"experiments":[45],"regarding":[46]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}