{"id":"https://openalex.org/W2170850269","doi":"https://doi.org/10.1109/robot.2009.5152351","title":"Robust hitting with dynamics shaping","display_name":"Robust hitting with dynamics shaping","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2170850269","doi":"https://doi.org/10.1109/robot.2009.5152351","mag":"2170850269"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152351","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152351","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","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/A5089502765","display_name":"Tasuku Yamawaki","orcid":"https://orcid.org/0000-0002-4285-3357"},"institutions":[{"id":"https://openalex.org/I443798","display_name":"National Defense Academy of Japan","ror":"https://ror.org/05xszy717","country_code":"JP","type":"education","lineage":["https://openalex.org/I443798"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Tasuku Yamawaki","raw_affiliation_strings":["Department of Mechanical Systems Engineering, National Defense Academy of Japan, Yokosuka, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, National Defense Academy of Japan, Yokosuka, Japan","institution_ids":["https://openalex.org/I443798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033819918","display_name":"Yusuke Tsuzuki","orcid":"https://orcid.org/0009-0000-2335-3309"},"institutions":[{"id":"https://openalex.org/I443798","display_name":"National Defense Academy of Japan","ror":"https://ror.org/05xszy717","country_code":"JP","type":"education","lineage":["https://openalex.org/I443798"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yusuke Tsuzuki","raw_affiliation_strings":["Department of Mechanical Systems Engineering, National Defense Academy of Japan, Yokosuka, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, National Defense Academy of Japan, Yokosuka, Japan","institution_ids":["https://openalex.org/I443798"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103638088","display_name":"Masahito Yashima","orcid":null},"institutions":[{"id":"https://openalex.org/I443798","display_name":"National Defense Academy of Japan","ror":"https://ror.org/05xszy717","country_code":"JP","type":"education","lineage":["https://openalex.org/I443798"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahito Yashima","raw_affiliation_strings":["Department of Mechanical Systems Engineering, National Defense Academy of Japan, Yokosuka, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, National Defense Academy of Japan, Yokosuka, Japan","institution_ids":["https://openalex.org/I443798"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5089502765"],"corresponding_institution_ids":["https://openalex.org/I443798"],"apc_list":null,"apc_paid":null,"fwci":1.538,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.87090067,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"4","issue":null,"first_page":"114","last_page":"119"},"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":0.9993000030517578,"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/control-theory","display_name":"Control theory (sociology)","score":0.8266191482543945},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.7416001558303833},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6010732054710388},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.5619109869003296},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.47769907116889954},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.47313085198402405},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4632244408130646},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.45151472091674805},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4142487049102783},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4117533564567566},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38428938388824463},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.32364434003829956},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2922397255897522},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2667716145515442},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25381386280059814},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18025824427604675},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1081366240978241}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8266191482543945},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.7416001558303833},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6010732054710388},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.5619109869003296},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.47769907116889954},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.47313085198402405},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4632244408130646},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.45151472091674805},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4142487049102783},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4117533564567566},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38428938388824463},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.32364434003829956},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2922397255897522},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2667716145515442},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25381386280059814},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18025824427604675},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1081366240978241},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2009.5152351","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152351","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.962.9390","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.962.9390","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.nda.ac.jp/%7Ekqylab/img/PDF/Dynamics_Shape_Arm_2009_ICRA.pdf?origin%3Dpublication_detail","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7300000190734863}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1965884773","https://openalex.org/W1967377907","https://openalex.org/W1969140852","https://openalex.org/W1978023077","https://openalex.org/W2042106612","https://openalex.org/W2076420009","https://openalex.org/W2103120971","https://openalex.org/W2105984544","https://openalex.org/W2109199679","https://openalex.org/W2112012231","https://openalex.org/W2115091574","https://openalex.org/W2146494230","https://openalex.org/W2164062812","https://openalex.org/W2171358668","https://openalex.org/W2261330695","https://openalex.org/W4206454995"],"related_works":["https://openalex.org/W129737916","https://openalex.org/W4226385867","https://openalex.org/W2966461000","https://openalex.org/W4223569781","https://openalex.org/W841410736","https://openalex.org/W2167648512","https://openalex.org/W4235896340","https://openalex.org/W2612781909","https://openalex.org/W3004667746","https://openalex.org/W573486021"],"abstract_inverted_index":{"The":[0],"present":[1],"paper":[2],"proposes":[3],"the":[4,18,22,27,32,40,45,49,53,58,68,73,81,84,89,98,101,105,109,119,128,134,137,148],"motion":[5,115],"planning":[6,116],"based":[7,117],"on":[8,118],"\u201cthe":[9],"dynamics":[10,34,90,120],"shaping\u201d":[11],"for":[12],"a":[13,113,141],"robotic":[14,74,129],"arm":[15,130],"to":[16,30,38,44,62,96],"hit":[17,133],"target":[19,135],"robustly":[20,132],"toward":[21,136],"desired":[23,41,138],"direction,":[24],"of":[25,52,67,72,83,100,104],"which":[26],"concept":[28],"is":[29,150],"shape":[31],"robot":[33],"appropriately":[35],"in":[36],"order":[37],"accomplish":[39],"motion.":[42],"According":[43],"linear":[46],"system":[47,145],"theory,":[48],"positional":[50,102],"error":[51,103],"end-point":[54],"converges":[55],"onto":[56],"near":[57],"singular":[59,65,85],"vector":[60,86],"corresponding":[61],"its":[63],"maximum":[64],"value":[66],"output":[69],"controllability":[70],"matrix":[71],"arm.":[75],"Therefore,":[76],"if":[77],"we":[78,92],"can":[79,131],"control":[80,97,144],"direction":[82,99,139],"by":[87,108],"applying":[88],"shaping,":[91],"will":[93],"be":[94],"able":[95],"end-effector":[106],"caused":[107],"disturbance.":[110],"We":[111],"propose":[112],"novel":[114],"shaping":[121],"and":[122,125],"verify":[123],"numerically":[124],"experimentally":[126],"that":[127],"with":[140],"simple":[142],"open-loop":[143],"even":[146],"though":[147],"disturbance":[149],"applied.":[151]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
