{"id":"https://openalex.org/W3012217838","doi":"https://doi.org/10.1109/sii46433.2020.9026236","title":"A Practical Method for Acquiring Inverse Dynamics Model and its Application to Mechanical Impedance Control of Human-Cooperative Robot","display_name":"A Practical Method for Acquiring Inverse Dynamics Model and its Application to Mechanical Impedance Control of Human-Cooperative Robot","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3012217838","doi":"https://doi.org/10.1109/sii46433.2020.9026236","mag":"3012217838"},"language":"en","primary_location":{"id":"doi:10.1109/sii46433.2020.9026236","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii46433.2020.9026236","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/SICE International Symposium on System Integration (SII)","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/A5084114532","display_name":"Misaki Hanafusa","orcid":null},"institutions":[{"id":"https://openalex.org/I165522056","display_name":"Tokyo Denki University","ror":"https://ror.org/01pa62v70","country_code":"JP","type":"education","lineage":["https://openalex.org/I165522056"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Misaki Hanafusa","raw_affiliation_strings":["Department of Robotics and Mechatronics, Tokyo Denki University, 5 Senju Asahi-cho, Adachi-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics, Tokyo Denki University, 5 Senju Asahi-cho, Adachi-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I165522056"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080908654","display_name":"Jun Ishikawa","orcid":"https://orcid.org/0000-0002-2946-7988"},"institutions":[{"id":"https://openalex.org/I165522056","display_name":"Tokyo Denki University","ror":"https://ror.org/01pa62v70","country_code":"JP","type":"education","lineage":["https://openalex.org/I165522056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Ishikawa","raw_affiliation_strings":["Department of Robotics and Mechatronics, Tokyo Denki University, 5 Senju Asahi-cho, Adachi-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics, Tokyo Denki University, 5 Senju Asahi-cho, Adachi-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I165522056"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5084114532"],"corresponding_institution_ids":["https://openalex.org/I165522056"],"apc_list":null,"apc_paid":null,"fwci":0.4413,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.60474222,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"579","last_page":"584"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9983999729156494,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9975000023841858,"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/inverse-dynamics","display_name":"Inverse dynamics","score":0.9064675569534302},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6632362604141235},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.652243971824646},{"id":"https://openalex.org/keywords/recurrent-neural-network","display_name":"Recurrent neural network","score":0.608537495136261},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5879082083702087},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5757147073745728},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5087767243385315},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4754364490509033},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4603644609451294},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4400838315486908},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4376683533191681},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4255511462688446},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.31969568133354187},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27670717239379883},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15607738494873047}],"concepts":[{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.9064675569534302},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6632362604141235},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.652243971824646},{"id":"https://openalex.org/C147168706","wikidata":"https://www.wikidata.org/wiki/Q1457734","display_name":"Recurrent neural network","level":3,"score":0.608537495136261},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5879082083702087},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5757147073745728},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5087767243385315},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4754364490509033},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4603644609451294},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4400838315486908},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4376683533191681},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4255511462688446},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.31969568133354187},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27670717239379883},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15607738494873047},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii46433.2020.9026236","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii46433.2020.9026236","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1486209696","https://openalex.org/W1541925238","https://openalex.org/W1598709302","https://openalex.org/W1967377907","https://openalex.org/W1977278088","https://openalex.org/W2127978838","https://openalex.org/W2155091236","https://openalex.org/W2438255111","https://openalex.org/W2481690837","https://openalex.org/W2606499982","https://openalex.org/W2897025176","https://openalex.org/W2897676027","https://openalex.org/W2898080887","https://openalex.org/W2907168794","https://openalex.org/W2907797934","https://openalex.org/W2949753660","https://openalex.org/W2981305131","https://openalex.org/W6628998635","https://openalex.org/W6635893067","https://openalex.org/W6682713264","https://openalex.org/W6763269415"],"related_works":["https://openalex.org/W4298287631","https://openalex.org/W2953061907","https://openalex.org/W1847088711","https://openalex.org/W4225394202","https://openalex.org/W2687915465","https://openalex.org/W2112389631","https://openalex.org/W2218699221","https://openalex.org/W2103107162","https://openalex.org/W3142528978","https://openalex.org/W4285133152"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,32,48,87,120,124,156],"practical":[4],"method,":[5],"which":[6,119],"is":[7,59,64,76,89,103,116,122,141,176],"appropriate":[8],"to":[9,12,68,78,94,110,183],"actual":[10],"use,":[11],"improve":[13],"the":[14,23,54,62,70,74,80,111,136,145,167,174,184],"feasibility":[15,44],"of":[16,42,130],"an":[17,27,91,178],"external":[18,169],"force/torque":[19,83],"estimator":[20,171],"proposed":[21,60,168],"by":[22,105,139,153],"authors":[24],"based":[25,97],"on":[26,39,98],"inverse":[28,55,71],"dynamics":[29,56,72],"model":[30,138],"using":[31,107],"recurrent":[33],"neural":[34],"network":[35],"(RNN)":[36],"and":[37,61,84],"reports":[38],"evaluation":[40],"results":[41],"its":[43],"through":[45],"experiments.":[46],"Specifically,":[47],"method":[49],"for":[50,144,160],"making":[51],"RNN":[52,75],"learn":[53,79],"more":[57],"practically":[58],"effectiveness":[63],"analyzed.":[65],"In":[66],"order":[67],"acquire":[69],"model,":[73],"trained":[77,112,185],"relationship":[81],"between":[82],"motion":[85],"when":[86],"robot":[88,121,175],"manipulating":[90,123,177],"object":[92,179],"according":[93],"random":[95],"trajectories":[96,108,181],"band-limited":[99],"M-sequences.":[100],"The":[101,132],"validity":[102],"evaluated":[104],"experiments":[106,154],"unknown":[109,146,182],"RNN.":[113,186],"Namely,":[114],"experiment":[115],"conducted":[117],"in":[118,180],"rigid":[125],"body":[126],"with":[127,166],"6":[128],"degrees":[129],"freedom.":[131],"result":[133],"showed":[134],"that":[135,155],"acquired":[137],"learning":[140],"effective":[142],"even":[143,172],"trajectories.":[147],"Furthermore,":[148],"it":[149],"has":[150],"been":[151],"confirmed":[152],"mechanical":[157],"impedance":[158],"control":[159],"human-cooperative":[161],"robots":[162],"can":[163],"be":[164],"realized":[165],"force":[170],"while":[173]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}