{"id":"https://openalex.org/W2167978151","doi":"https://doi.org/10.1109/robot.2006.1642309","title":"Task teaching system for a force-controlled parallel robot using multiple teaching modes with human demonstration data","display_name":"Task teaching system for a force-controlled parallel robot using multiple teaching modes with human demonstration data","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2167978151","doi":"https://doi.org/10.1109/robot.2006.1642309","mag":"2167978151"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1642309","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1642309","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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/A5022199266","display_name":"Daisuke Sato","orcid":"https://orcid.org/0000-0002-7670-9177"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"D. Sato","raw_affiliation_strings":["Department of AeroSpace Engineering, Graduate School of Engineering, University of Tohoku, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of AeroSpace Engineering, Graduate School of Engineering, University of Tohoku, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007535358","display_name":"Ry\u014dsuke Kobayashi","orcid":"https://orcid.org/0000-0001-8001-2367"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"R. Kobayashi","raw_affiliation_strings":["Department of AeroSpace Engineering, Graduate School of Engineering, University of Tohoku, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of AeroSpace Engineering, Graduate School of Engineering, University of Tohoku, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058636634","display_name":"Akinori Kobayashi","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"A. Kobayashi","raw_affiliation_strings":["Department of AeroSpace Engineering, Graduate School of Engineering, University of Tohoku, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of AeroSpace Engineering, Graduate School of Engineering, University of Tohoku, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083473038","display_name":"Masaru Uchiyama","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Uchiyama","raw_affiliation_strings":["Department of AeroSpace Engineering, Graduate School of Engineering, University of Tohoku, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of AeroSpace Engineering, Graduate School of Engineering, University of Tohoku, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.7542,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.91333941,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"3960","last_page":"3965"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994000196456909,"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":0.9977999925613403,"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/task","display_name":"Task (project management)","score":0.7765016555786133},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7444921731948853},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6684392690658569},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5937592387199402},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.48444700241088867},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.46965116262435913},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.42534133791923523},{"id":"https://openalex.org/keywords/human-motion","display_name":"Human motion","score":0.41474953293800354},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38842228055000305},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.383233904838562},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3319850564002991},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11892920732498169}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7765016555786133},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7444921731948853},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6684392690658569},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5937592387199402},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.48444700241088867},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.46965116262435913},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.42534133791923523},{"id":"https://openalex.org/C2986578859","wikidata":"https://www.wikidata.org/wiki/Q657632","display_name":"Human motion","level":3,"score":0.41474953293800354},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38842228055000305},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.383233904838562},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3319850564002991},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11892920732498169},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2006.1642309","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1642309","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W4436282","https://openalex.org/W1536498791","https://openalex.org/W2018160107","https://openalex.org/W2138429198","https://openalex.org/W2149641241","https://openalex.org/W2159613776","https://openalex.org/W2341668857","https://openalex.org/W2583909404","https://openalex.org/W3045791806","https://openalex.org/W6600166715","https://openalex.org/W6704385452","https://openalex.org/W6780973374"],"related_works":["https://openalex.org/W2035558540","https://openalex.org/W2529580585","https://openalex.org/W2804584315","https://openalex.org/W2004712313","https://openalex.org/W2167757589","https://openalex.org/W2332110715","https://openalex.org/W2988011613","https://openalex.org/W2806036343","https://openalex.org/W2079653927","https://openalex.org/W142482926"],"abstract_inverted_index":{"A":[0],"purpose":[1],"of":[2,58,99,148],"this":[3,44,91],"paper":[4],"is":[5,16,96,141],"to":[6,30,54,79],"expedite":[7],"onerous":[8],"initial":[9,118],"procedures":[10],"when":[11],"a":[12,66],"force-controlled":[13],"parallel":[14],"robot":[15,129],"taught":[17],"task":[18,23,40,100,140],"motions":[19,41],"by":[20,123],"the":[21,32,47,59,80,97,124,128,136,146,149],"off-line":[22],"teaching/playback":[24],"system":[25,82],"which":[26,106],"we":[27,144],"have":[28],"developed":[29],"realize":[31],"motion":[33,60,114],"planning":[34],"suitable":[35],"for":[36,89],"tasks":[37],"and":[38,70,75,83,111,127,143],"playback":[39],"dexterously.":[42],"In":[43],"teaching":[45,49,81,85,101,119,150],"system,":[46],"numerical":[48],"method":[50],"has":[51],"been":[52],"employed":[53],"give":[55],"detailed":[56],"descriptions":[57],"parameters,":[61],"but":[62],"it":[63],"brings":[64],"out":[65],"trade-off":[67],"between":[68],"fine-tuning":[69],"complication.":[71],"Therefore,":[72],"new":[73],"devices":[74],"functions":[76],"are":[77,87,107,121,131],"added":[78],"multiple":[84],"modes":[86,151],"implemented":[88],"solving":[90],"problem.":[92],"The":[93,117],"main":[94],"feature":[95],"use":[98],"with":[102,135],"human":[103,113],"demonstration":[104,125],"data":[105,120,126],"obtained":[108],"in":[109],"real":[110],"virtual":[112],"measurement":[115],"systems.":[116],"generated":[122],"commands":[130],"converted":[132],"into":[133],"them":[134],"control":[137],"parameters.":[138],"Typical":[139],"demonstrated":[142],"verify":[145],"effectiveness":[147],"experimentally":[152]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}