{"id":"https://openalex.org/W2098327209","doi":"https://doi.org/10.1109/robot.2004.1308820","title":"Minimizing air consumption of pneumatic actuators in mobile robots","display_name":"Minimizing air consumption of pneumatic actuators in mobile robots","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2098327209","doi":"https://doi.org/10.1109/robot.2004.1308820","mag":"2098327209"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1308820","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1308820","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","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/A5041901993","display_name":"Grzegorz Granosik","orcid":"https://orcid.org/0000-0002-3345-627X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]},{"id":"https://openalex.org/I34250744","display_name":"University of \u0141\u00f3d\u017a","ror":"https://ror.org/05cq64r17","country_code":"PL","type":"education","lineage":["https://openalex.org/I34250744"]},{"id":"https://openalex.org/I188884621","display_name":"Lodz University of Technology","ror":"https://ror.org/00s8fpf52","country_code":"PL","type":"education","lineage":["https://openalex.org/I188884621"]}],"countries":["PL","US"],"is_corresponding":true,"raw_author_name":"G. Granosik","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","Institute of Automatic Control, Technical University of Lodz, Lodz, Poland"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Institute of Automatic Control, Technical University of Lodz, Lodz, Poland","institution_ids":["https://openalex.org/I34250744","https://openalex.org/I188884621"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059010996","display_name":"J. Borenstein","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Borenstein","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5041901993"],"corresponding_institution_ids":["https://openalex.org/I188884621","https://openalex.org/I27837315","https://openalex.org/I34250744"],"apc_list":null,"apc_paid":null,"fwci":13.3042,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.99117271,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3634","last_page":"3639 Vol.4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9994999766349792,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9919000267982483,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9909999966621399,"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/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.7686448097229004},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7277315855026245},{"id":"https://openalex.org/keywords/pneumatic-cylinder","display_name":"Pneumatic cylinder","score":0.7213329076766968},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6210517287254333},{"id":"https://openalex.org/keywords/compressed-air","display_name":"Compressed air","score":0.6106314659118652},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5958747267723083},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5719517469406128},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4957329034805298},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.495430588722229},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.47771263122558594},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44946202635765076},{"id":"https://openalex.org/keywords/cylinder","display_name":"Cylinder","score":0.4420112371444702},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41137826442718506},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37426793575286865},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2894982397556305},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20723477005958557},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.19099915027618408},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09113961458206177}],"concepts":[{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.7686448097229004},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7277315855026245},{"id":"https://openalex.org/C109217959","wikidata":"https://www.wikidata.org/wiki/Q4567087","display_name":"Pneumatic cylinder","level":3,"score":0.7213329076766968},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6210517287254333},{"id":"https://openalex.org/C1934278","wikidata":"https://www.wikidata.org/wiki/Q143746","display_name":"Compressed air","level":2,"score":0.6106314659118652},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5958747267723083},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5719517469406128},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4957329034805298},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.495430588722229},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.47771263122558594},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44946202635765076},{"id":"https://openalex.org/C203311528","wikidata":"https://www.wikidata.org/wiki/Q34132","display_name":"Cylinder","level":2,"score":0.4420112371444702},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41137826442718506},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37426793575286865},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2894982397556305},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20723477005958557},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.19099915027618408},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09113961458206177},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2004.1308820","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1308820","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8899999856948853,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W585670370","https://openalex.org/W1555601014","https://openalex.org/W1564266895","https://openalex.org/W1974198482","https://openalex.org/W1986076247","https://openalex.org/W2018534686","https://openalex.org/W2076166512","https://openalex.org/W2082512060","https://openalex.org/W2087850400","https://openalex.org/W2089952830","https://openalex.org/W2091624679","https://openalex.org/W2097030166","https://openalex.org/W2106297814","https://openalex.org/W2109526590","https://openalex.org/W2147230155","https://openalex.org/W2164930643","https://openalex.org/W2312961819","https://openalex.org/W2589574326","https://openalex.org/W4285719527","https://openalex.org/W6633774525","https://openalex.org/W6734095801","https://openalex.org/W7018446159"],"related_works":["https://openalex.org/W2324087852","https://openalex.org/W2063741831","https://openalex.org/W2750323395","https://openalex.org/W3162171919","https://openalex.org/W2211400853","https://openalex.org/W2187636690","https://openalex.org/W3116899969","https://openalex.org/W2007566110","https://openalex.org/W3087863872","https://openalex.org/W3170301605"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,27,32],"new":[4],"control":[5,25,43],"method":[6,19,58],"for":[7,26],"pneumatic":[8,33],"actuators,":[9],"called":[10],"\"Proportional":[11],"Position":[12],"and":[13,23],"Stiffness":[14],"(PPS)\"":[15],"controller.":[16],"The":[17],"PPS":[18,57],"provides":[20],"both":[21],"position":[22],"stiffness":[24],"robot":[28],"joint":[29],"driven":[30],"by":[31],"cylinder":[34],"with":[35],"four":[36],"ON-OFF":[37],"valves.":[38],"In":[39],"addition,":[40],"the":[41,56],"proposed":[42],"system":[44],"consumes":[45],"much":[46],"less":[47],"compressed":[48],"air":[49],"than":[50],"comparable":[51],"strategies.":[52],"These":[53],"features":[54],"make":[55],"highly":[59],"suitable":[60],"to":[61],"application":[62],"in":[63],"mobile":[64],"robots.":[65]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2012,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}