{"id":"https://openalex.org/W2165662383","doi":"https://doi.org/10.1109/robot.2009.5152733","title":"Modeling and control of a pair of robot fingers with saddle joint under orderless actuations","display_name":"Modeling and control of a pair of robot fingers with saddle joint under orderless actuations","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2165662383","doi":"https://doi.org/10.1109/robot.2009.5152733","mag":"2165662383"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152733","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152733","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/A5078849747","display_name":"Morio Yoshida","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Morio Yoshida","raw_affiliation_strings":["RIKEN-TRI Collaboration Center for Human-Interactive Robot Research, RIKEN, Nagoya, Aichi, Japan"],"affiliations":[{"raw_affiliation_string":"RIKEN-TRI Collaboration Center for Human-Interactive Robot Research, RIKEN, Nagoya, Aichi, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110792492","display_name":"Suguru Arimoto","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Suguru Arimoto","raw_affiliation_strings":["RIKEN-TRI-Collaboration Center for Human-Interactive Robot Research, RIKEN, Nagoya, Aichi, 463-0003, Japan"],"affiliations":[{"raw_affiliation_string":"RIKEN-TRI-Collaboration Center for Human-Interactive Robot Research, RIKEN, Nagoya, Aichi, 463-0003, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010975613","display_name":"Kenji Tahara","orcid":"https://orcid.org/0000-0003-4457-7867"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Tahara","raw_affiliation_strings":["Organization for the Promotion of Advanced Research, Kyushu University, Fukuoka, Japan"],"affiliations":[{"raw_affiliation_string":"Organization for the Promotion of Advanced Research, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5078849747"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.8271,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.9376122,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"2499","last_page":"2505"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9898999929428101,"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/T10868","display_name":"Soft Robotics and Applications","score":0.989300012588501,"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/saddle","display_name":"Saddle","score":0.7151781320571899},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6586407423019409},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6148685812950134},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.548963725566864},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5152021050453186},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5111704468727112},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4656428098678589},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.37722405791282654},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3163920044898987},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23728567361831665},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.22198182344436646},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17829293012619019},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1457214057445526},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14564868807792664}],"concepts":[{"id":"https://openalex.org/C2777127463","wikidata":"https://www.wikidata.org/wiki/Q10862618","display_name":"Saddle","level":2,"score":0.7151781320571899},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6586407423019409},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6148685812950134},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.548963725566864},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5152021050453186},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5111704468727112},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4656428098678589},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.37722405791282654},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3163920044898987},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23728567361831665},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.22198182344436646},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17829293012619019},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1457214057445526},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14564868807792664}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2009.5152733","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152733","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6000000238418579}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1557450088","https://openalex.org/W1564897360","https://openalex.org/W1569600786","https://openalex.org/W2017444601","https://openalex.org/W2060656208","https://openalex.org/W2083111765","https://openalex.org/W2118935525","https://openalex.org/W2126701792","https://openalex.org/W2134075441","https://openalex.org/W2146887392","https://openalex.org/W2165156724","https://openalex.org/W2328366507","https://openalex.org/W3217246742","https://openalex.org/W4232051578","https://openalex.org/W4256187142","https://openalex.org/W6681883498"],"related_works":["https://openalex.org/W2331850854","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W4312096302","https://openalex.org/W2972304526","https://openalex.org/W2109003837","https://openalex.org/W2101598871","https://openalex.org/W2005471069","https://openalex.org/W2075639008","https://openalex.org/W2109573574"],"abstract_inverted_index":{"A":[0,62],"new":[1],"robot":[2],"hand":[3],"dynamics":[4,91],"model":[5,52],"with":[6,10,43,93],"rolling":[7],"constraints":[8],"and":[9,49],"a":[11,50],"saddle":[12],"joint":[13],"at":[14],"one":[15],"finger":[16],"is":[17,46,60,76],"proposed,":[18],"where":[19],"two":[20,35],"saddle-joint":[21],"actuations":[22],"are":[23],"considered":[24],"to":[25,69],"be":[26],"orderless.":[27],"Spinning":[28],"motion":[29,56,86],"around":[30],"the":[31,58,83,88,94],"opposition":[32],"axis":[33],"connecting":[34],"center":[36],"points":[37],"of":[38,57,64,85,87],"each":[39],"finger-tip":[40],"contact":[41],"area":[42],"an":[44],"object":[45,59,70],"faithfully":[47],"treated,":[48],"viscosity":[51],"for":[53],"damping":[54],"rotational":[55],"proposed.":[61,77],"class":[63],"control":[65,96],"signals":[66],"without":[67],"referring":[68],"kinematics":[71],"or":[72],"using":[73],"external":[74],"sensing":[75],"Finally,":[78],"numerical":[79],"simulation":[80],"results":[81],"show":[82],"stability":[84],"overall":[89],"closed-loop":[90],"supplied":[92],"proposed":[95],"input.":[97]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}