{"id":"https://openalex.org/W2079234788","doi":"https://doi.org/10.1109/sii.2013.6776603","title":"Dynamic movement by admittance control of a multi-finger-arm robot with manipulability control of fingers","display_name":"Dynamic movement by admittance control of a multi-finger-arm robot with manipulability control of fingers","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W2079234788","doi":"https://doi.org/10.1109/sii.2013.6776603","mag":"2079234788"},"language":"en","primary_location":{"id":"doi:10.1109/sii.2013.6776603","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2013.6776603","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2013 IEEE/SICE International Symposium on System Integration","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/A5013558251","display_name":"Daisuke Yamada","orcid":"https://orcid.org/0000-0002-2296-6653"},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"D. Yamada","raw_affiliation_strings":["Graduate School of Engineering, Yokohama National University, Yokohama, Japan","Grad. Sch. of Eng., Yokohama Nat. Univ., Yokohama, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Yokohama National University, Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]},{"raw_affiliation_string":"Grad. Sch. of Eng., Yokohama Nat. Univ., Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069195752","display_name":"Yoshinori Sano","orcid":null},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Sano","raw_affiliation_strings":["Graduate School of Engineering, Yokohama National University, Yokohama, Japan","Grad. Sch. of Eng., Yokohama Nat. Univ., Yokohama, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Yokohama National University, Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]},{"raw_affiliation_string":"Grad. Sch. of Eng., Yokohama Nat. Univ., Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084232137","display_name":"Ryota Hori","orcid":null},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"R. Hori","raw_affiliation_strings":["Graduate School of Engineering, Yokohama National University, Yokohama, Japan","Grad. Sch. of Eng., Yokohama Nat. Univ., Yokohama, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Yokohama National University, Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]},{"raw_affiliation_string":"Grad. Sch. of Eng., Yokohama Nat. Univ., Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066790771","display_name":"Jian Huang","orcid":"https://orcid.org/0000-0002-6267-8824"},"institutions":[{"id":"https://openalex.org/I916559398","display_name":"Kindai University","ror":"https://ror.org/05kt9ap64","country_code":"JP","type":"education","lineage":["https://openalex.org/I916559398"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"J. Huang","raw_affiliation_strings":["Department of Intelligent Mechanical Engineering, Kinki University, Higashi-Hiroshima, Japan","Dept. of Intell. Mech. Eng., Kinki Univ., Higashi-Hiroshima, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Intelligent Mechanical Engineering, Kinki University, Higashi-Hiroshima, Japan","institution_ids":["https://openalex.org/I916559398"]},{"raw_affiliation_string":"Dept. of Intell. Mech. Eng., Kinki Univ., Higashi-Hiroshima, Japan","institution_ids":["https://openalex.org/I916559398"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063748677","display_name":"Tetsuro Yabuta","orcid":"https://orcid.org/0000-0001-8312-9560"},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Yabuta","raw_affiliation_strings":["Department of Mechanical Engineering, Yokohama National University, Yokohama, Japan","Dept. of Mech. Eng., Yokohama Nat. Univ., Yokohama, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Yokohama National University, Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Yokohama Nat. Univ., Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5013558251"],"corresponding_institution_ids":["https://openalex.org/I180203408"],"apc_list":null,"apc_paid":null,"fwci":1.0222,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.81508996,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"4","issue":null,"first_page":"521","last_page":"526"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.7254412174224854},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5674879550933838},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5650859475135803},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5276181697845459},{"id":"https://openalex.org/keywords/movement","display_name":"Movement (music)","score":0.5192344784736633},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5017023086547852},{"id":"https://openalex.org/keywords/movement-control","display_name":"Movement control","score":0.4793032705783844},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4776662290096283},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.4738602638244629},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4695385694503784},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.46248680353164673},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.45754262804985046},{"id":"https://openalex.org/keywords/arm-solution","display_name":"Arm solution","score":0.44733697175979614},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.42220309376716614},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.41170600056648254},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3873865604400635},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37417322397232056},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3404967784881592},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2925082743167877},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2299915850162506},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.1929551362991333}],"concepts":[{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.7254412174224854},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5674879550933838},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5650859475135803},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5276181697845459},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.5192344784736633},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5017023086547852},{"id":"https://openalex.org/C3019108329","wikidata":"https://www.wikidata.org/wiki/Q1751327","display_name":"Movement control","level":2,"score":0.4793032705783844},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4776662290096283},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.4738602638244629},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4695385694503784},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.46248680353164673},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.45754262804985046},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.44733697175979614},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.42220309376716614},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.41170600056648254},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3873865604400635},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37417322397232056},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3404967784881592},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2925082743167877},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2299915850162506},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.1929551362991333},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C107038049","wikidata":"https://www.wikidata.org/wiki/Q35986","display_name":"Aesthetics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"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/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii.2013.6776603","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2013.6776603","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2013 IEEE/SICE International Symposium on System Integration","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W569550135","https://openalex.org/W1493971283","https://openalex.org/W1985447331","https://openalex.org/W2015003349","https://openalex.org/W2049410986","https://openalex.org/W2095853241","https://openalex.org/W2103120971","https://openalex.org/W2132748189","https://openalex.org/W2136157152","https://openalex.org/W2162930614","https://openalex.org/W2282992607","https://openalex.org/W2327196706","https://openalex.org/W2327974227","https://openalex.org/W2332434023","https://openalex.org/W6629532056","https://openalex.org/W6662597783"],"related_works":["https://openalex.org/W4313421420","https://openalex.org/W4390695967","https://openalex.org/W2319640990","https://openalex.org/W4361770474","https://openalex.org/W2587252135","https://openalex.org/W2036081980","https://openalex.org/W4388893656","https://openalex.org/W3201274123","https://openalex.org/W2898640871","https://openalex.org/W2108575589"],"abstract_inverted_index":{"Cooperative":[0],"control":[1,40,43,47,92,106,114],"algorithms":[2,93,164],"for":[3],"a":[4,11,34,70,108,171],"redundant":[5,109],"finger-arm":[6,27],"robot":[7,28,111],"were":[8,94],"proposed":[9,149],"in":[10,103,151],"previous":[12],"study,":[13,88],"based":[14],"on":[15],"the":[16,19,26,45,49,54,65,75,89,104,116,120,123,126,130,136,139,148,154,163],"movement":[17,102],"of":[18,48,53,78,107,115,125,138,153,174],"human":[20],"hand-arm":[21],"system.":[22],"With":[23],"these":[24,79],"algorithms,":[25],"arm":[29],"was":[30,56,177],"able":[31],"to":[32,100,166],"complete":[33],"constrained":[35],"task":[36],"by":[37,97],"integrating":[38],"admittance":[39,105],"and":[41,69,129,146,170],"impedance":[42],"with":[44,112],"manipulability":[46,52,113,156],"fingers.":[50,117],"The":[51,158],"fingers":[55],"controlled":[57],"using":[58],"both":[59],"an":[60],"approximate":[61],"global":[62],"search":[63,67],"(i.e.,":[64],"top":[66],"method)":[68],"local":[71],"optimization":[72],"method.":[73],"However,":[74],"dynamic":[76,101,168],"characteristics":[77],"methods":[80,150],"have":[81],"not":[82],"yet":[83],"been":[84],"studied.":[85],"In":[86],"this":[87],"conventional":[90],"cooperative":[91],"developed":[95],"further":[96],"extending":[98],"them":[99],"multi-finger-arm":[110],"We":[118],"clarified":[119],"relationship":[121],"between":[122],"feasibility":[124],"virtual":[127,141,175],"dynamics":[128,176],"motion":[131],"speed,":[132],"as":[133,135],"well":[134],"range":[137,173],"achievable":[140],"dynamics.":[142],"This":[143],"paper":[144],"evaluates":[145],"discusses":[147],"terms":[152],"finger":[155],"control.":[157],"experimental":[159],"results":[160],"show":[161],"that":[162],"responded":[165],"more":[167],"movement,":[169],"broader":[172],"achievable.":[178]},"counts_by_year":[{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}