{"id":"https://openalex.org/W2109114518","doi":"https://doi.org/10.1109/robot.2009.5152867","title":"Active mechanical compensation to obtain gravity-free robots: Modeling, control, design and preliminary experimental results","display_name":"Active mechanical compensation to obtain gravity-free robots: Modeling, control, design and preliminary experimental results","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2109114518","doi":"https://doi.org/10.1109/robot.2009.5152867","mag":"2109114518"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152867","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152867","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/A5002788944","display_name":"Felipe Machorro-Fern\u00e1ndez","orcid":null},"institutions":[{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"funder","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4413696010"]},{"id":"https://openalex.org/I68368234","display_name":"Center for Research and Advanced Studies of the National Polytechnic Institute","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]},{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"F.A. Machorro-Fernandez","raw_affiliation_strings":["Robotics and Advanced Manufacturing Division, Research Center for Advanced Studies-Cinvestav, M\u00e9xico","Robotics and Advanced Manufacturing Division, Research and Advanced Studies Center of National Polytechnic Institute of Mexico, Mexico, Mexico"],"affiliations":[{"raw_affiliation_string":"Robotics and Advanced Manufacturing Division, Research Center for Advanced Studies-Cinvestav, M\u00e9xico","institution_ids":["https://openalex.org/I68368234"]},{"raw_affiliation_string":"Robotics and Advanced Manufacturing Division, Research and Advanced Studies Center of National Polytechnic Institute of Mexico, Mexico, Mexico","institution_ids":["https://openalex.org/I4210090124","https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028434777","display_name":"Vicente Parra\u2010Vega","orcid":"https://orcid.org/0000-0002-1813-0394"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Center for Research and Advanced Studies of the National Polytechnic Institute","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]},{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]},{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"funder","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4413696010"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"V. Parra-Vega","raw_affiliation_strings":["Robotics and Advanced Manufacturing Division, Research Center for Advanced Studies-Cinvestav, M\u00e9xico","Robotics and Advanced Manufacturing Division, Research and Advanced Studies Center of National Polytechnic Institute of Mexico, Mexico, Mexico"],"affiliations":[{"raw_affiliation_string":"Robotics and Advanced Manufacturing Division, Research Center for Advanced Studies-Cinvestav, M\u00e9xico","institution_ids":["https://openalex.org/I68368234"]},{"raw_affiliation_string":"Robotics and Advanced Manufacturing Division, Research and Advanced Studies Center of National Polytechnic Institute of Mexico, Mexico, Mexico","institution_ids":["https://openalex.org/I4210090124","https://openalex.org/I59361560"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053105506","display_name":"Ernesto Olgu\u00edn-D\u00edaz","orcid":"https://orcid.org/0000-0001-9721-191X"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Center for Research and Advanced Studies of the National Polytechnic Institute","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"E. Olguin-Diaz","raw_affiliation_strings":["Robotics and Advanced Manufacturing Division, Research Center for Advanced Studies-Cinvestav, M\u00e9xico"],"affiliations":[{"raw_affiliation_string":"Robotics and Advanced Manufacturing Division, Research Center for Advanced Studies-Cinvestav, M\u00e9xico","institution_ids":["https://openalex.org/I68368234"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5002788944"],"corresponding_institution_ids":["https://openalex.org/I4210090124","https://openalex.org/I59361560","https://openalex.org/I68368234"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.16160728,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1061","last_page":"1066"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9934999942779541,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9934999942779541,"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/T13752","display_name":"Mechanics and Biomechanics Studies","score":0.991599977016449,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9904000163078308,"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/compensation","display_name":"Compensation (psychology)","score":0.7512471675872803},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6463980674743652},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6376964449882507},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6255384087562561},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5937238335609436},{"id":"https://openalex.org/keywords/gravitational-acceleration","display_name":"Gravitational acceleration","score":0.5077882409095764},{"id":"https://openalex.org/keywords/gravitation","display_name":"Gravitation","score":0.4701678156852722},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4537146985530853},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4536116421222687},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4501972198486328},{"id":"https://openalex.org/keywords/center-of-gravity","display_name":"Center of gravity","score":0.4415714144706726},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.4123392701148987},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35567086935043335},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2768462896347046},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.218205064535141},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12540051341056824},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11887332797050476}],"concepts":[{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.7512471675872803},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6463980674743652},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6376964449882507},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6255384087562561},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5937238335609436},{"id":"https://openalex.org/C71976986","wikidata":"https://www.wikidata.org/wiki/Q30006","display_name":"Gravitational acceleration","level":3,"score":0.5077882409095764},{"id":"https://openalex.org/C124017977","wikidata":"https://www.wikidata.org/wiki/Q11412","display_name":"Gravitation","level":2,"score":0.4701678156852722},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4537146985530853},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4536116421222687},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4501972198486328},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.4415714144706726},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.4123392701148987},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35567086935043335},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2768462896347046},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.218205064535141},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12540051341056824},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11887332797050476},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2009.5152867","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152867","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/7","display_name":"Affordable and clean energy","score":0.5799999833106995}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W173264240","https://openalex.org/W1256870269","https://openalex.org/W1496777766","https://openalex.org/W1732374387","https://openalex.org/W1879588196","https://openalex.org/W2092963446","https://openalex.org/W2124600038","https://openalex.org/W2144265023","https://openalex.org/W2144908914","https://openalex.org/W2153056680","https://openalex.org/W2158970259","https://openalex.org/W2569641373","https://openalex.org/W2610796673","https://openalex.org/W3023497332","https://openalex.org/W3038698521","https://openalex.org/W4247210738"],"related_works":["https://openalex.org/W2581662521","https://openalex.org/W4301792089","https://openalex.org/W2951833685","https://openalex.org/W2788093939","https://openalex.org/W2366990002","https://openalex.org/W1519986249","https://openalex.org/W3186754464","https://openalex.org/W2298333097","https://openalex.org/W4255421444","https://openalex.org/W2035981797"],"abstract_inverted_index":{"In":[0],"this":[1,47],"paper,":[2],"a":[3],"new":[4],"hybrid":[5],"active":[6],"mechanical":[7],"technique":[8],"is":[9],"proposed,":[10],"which":[11],"nullifies":[12],"the":[13,25],"torque":[14],"coming":[15],"from":[16],"gravitational":[17],"acceleration":[18],"by":[19],"means":[20],"of":[21,24,27,29],"controlled":[22],"displacements":[23],"center":[26],"mass":[28],"each":[30],"link.":[31],"Modeling,":[32],"design":[33],"and":[34],"control":[35],"issues":[36],"are":[37],"presented":[38],"as":[39,41],"well":[40],"some":[42],"preliminary":[43],"experimental":[44],"results":[45],"illustrate":[46],"principle.":[48]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}