{"id":"https://openalex.org/W3012016906","doi":"https://doi.org/10.1109/sii46433.2020.9026266","title":"Experimental Verification of Impact Absorbing Property of Wire Driven Joint with Synthetic Fiber Rope","display_name":"Experimental Verification of Impact Absorbing Property of Wire Driven Joint with Synthetic Fiber Rope","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3012016906","doi":"https://doi.org/10.1109/sii46433.2020.9026266","mag":"3012016906"},"language":"en","primary_location":{"id":"doi:10.1109/sii46433.2020.9026266","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii46433.2020.9026266","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":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://t2r2.star.titech.ac.jp/rrws/file/CTT100814787/ATD100000413/","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050217307","display_name":"Takuma Yabuta","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takuma Yabuta","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama Meguroku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama Meguroku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025268480","display_name":"Hiroyuki Nabae","orcid":"https://orcid.org/0000-0002-3036-6447"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroyuki Nabae","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama Meguroku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama Meguroku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052210424","display_name":"Koichi Suzumori","orcid":"https://orcid.org/0000-0002-5735-4956"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koichi Suzumori","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama Meguroku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama Meguroku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021539241","display_name":"Gen Endo","orcid":"https://orcid.org/0000-0001-7958-5395"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gen Endo","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama Meguroku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama Meguroku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0724942,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1306","last_page":"1311"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9994000196456909,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9965000152587891,"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/wire-rope","display_name":"Wire rope","score":0.8099691867828369},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6824606657028198},{"id":"https://openalex.org/keywords/rope","display_name":"Rope","score":0.6276049017906189},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6094036102294922},{"id":"https://openalex.org/keywords/impact","display_name":"Impact","score":0.568774402141571},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.563168466091156},{"id":"https://openalex.org/keywords/rigidity","display_name":"Rigidity (electromagnetism)","score":0.5126282572746277},{"id":"https://openalex.org/keywords/shock-absorber","display_name":"Shock absorber","score":0.47909167408943176},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.4110836386680603},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4105730354785919},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39812737703323364},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.37647849321365356},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3750269412994385},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28394466638565063},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1101326048374176},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10023114085197449}],"concepts":[{"id":"https://openalex.org/C2781373598","wikidata":"https://www.wikidata.org/wiki/Q552034","display_name":"Wire rope","level":2,"score":0.8099691867828369},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6824606657028198},{"id":"https://openalex.org/C162269090","wikidata":"https://www.wikidata.org/wiki/Q1156047","display_name":"Rope","level":2,"score":0.6276049017906189},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6094036102294922},{"id":"https://openalex.org/C199310239","wikidata":"https://www.wikidata.org/wiki/Q4115667","display_name":"Impact","level":2,"score":0.568774402141571},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.563168466091156},{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.5126282572746277},{"id":"https://openalex.org/C190743461","wikidata":"https://www.wikidata.org/wiki/Q211251","display_name":"Shock absorber","level":2,"score":0.47909167408943176},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.4110836386680603},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4105730354785919},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39812737703323364},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.37647849321365356},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3750269412994385},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28394466638565063},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1101326048374176},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10023114085197449},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/sii46433.2020.9026266","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii46433.2020.9026266","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"},{"id":"pmh:oai:t2r2.star.titech.ac.jp:50508769","is_oa":true,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100814787","pdf_url":"http://t2r2.star.titech.ac.jp/rrws/file/CTT100814787/ATD100000413/","source":{"id":"https://openalex.org/S4377196385","display_name":"Tokyo Tech Research Repository (Tokyo Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114531698","host_organization_name":"Tokyo Institute of Technology","host_organization_lineage":["https://openalex.org/I114531698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Paper"}],"best_oa_location":{"id":"pmh:oai:t2r2.star.titech.ac.jp:50508769","is_oa":true,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100814787","pdf_url":"http://t2r2.star.titech.ac.jp/rrws/file/CTT100814787/ATD100000413/","source":{"id":"https://openalex.org/S4377196385","display_name":"Tokyo Tech Research Repository (Tokyo Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114531698","host_organization_name":"Tokyo Institute of Technology","host_organization_lineage":["https://openalex.org/I114531698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Paper"},"sustainable_development_goals":[{"score":0.8899999856948853,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3012016906.pdf","grobid_xml":"https://content.openalex.org/works/W3012016906.grobid-xml"},"referenced_works_count":10,"referenced_works":["https://openalex.org/W1503740319","https://openalex.org/W1825041585","https://openalex.org/W2043583726","https://openalex.org/W2083875135","https://openalex.org/W2111253117","https://openalex.org/W2573227850","https://openalex.org/W2746021539","https://openalex.org/W2789789197","https://openalex.org/W2791191980","https://openalex.org/W2911663758"],"related_works":["https://openalex.org/W1561243206","https://openalex.org/W2384089869","https://openalex.org/W2393914195","https://openalex.org/W2067650447","https://openalex.org/W2100539263","https://openalex.org/W2305196143","https://openalex.org/W2373023357","https://openalex.org/W2367592283","https://openalex.org/W2073570702","https://openalex.org/W1987425653"],"abstract_inverted_index":{"In":[0,37,154],"a":[1,18,53,174,182,200,234],"quadruped":[2,82],"robot,":[3],"the":[4,9,25,49,85,130,133,138,160,204,208,211,215,219,226,244,249,256,264,268,273,286,296],"impact":[5,32,42,50,146,161,193,205,261,280,287,297],"force":[6,139,216,246,281,288],"applied":[7,217,247],"to":[8,24,30,39,47,68,167,202,218,248,253,259],"leg":[10],"mechanism":[11,166,172,186,228,277],"by":[12,51,71,142,195,206,243,282,292,295],"falling":[13],"or":[14,66],"stepping":[15],"over":[16],"is":[17,62,77,114,135,140,221],"problem":[19],"that":[20,168],"may":[21],"cause":[22],"damage":[23],"mechanism.":[26,177],"Therefore,":[27],"various":[28,88],"systems":[29],"increase":[31],"resistance":[33],"have":[34,40,92,101],"been":[35,93,102],"studied.":[36],"order":[38,252],"high":[41],"resistance,":[43],"there":[44],"are":[45],"methods":[46,67],"withstand":[48],"using":[52,73],"high-rigidity":[54],"drive":[55,107,112,165,171,189,255,270],"system,":[56],"such":[57],"as":[58,173],"hydraulic":[59],"cylinders":[60],"which":[61,76,95],"heavy":[63],"and":[64,116,128,137,148,191,213,223,258],"large,":[65],"absorb":[69,97,203,260],"it":[70],"control":[72,150,201,240],"back-drivable":[74],"actuators":[75,91],"low":[78],"energy":[79],"efficient":[80],"for":[81,187],"robot.":[83],"On":[84],"other":[86],"hand,":[87],"series":[89],"elastic":[90,144],"studied,":[94],"can":[96,117,151,278,289],"impact.":[98],"Meanwhile,":[99],"we":[100,157,180],"studying":[103],"synthetic":[104,123],"fiber":[105,110,124],"wire":[106,111,134,164,212,274],"system.":[108,299],"Synthetic":[109],"system":[113],"lightweight":[115],"handle":[118],"actuator":[119],"arrangement":[120],"freely.":[121],"Also,":[122,285],"rope":[125],"has":[126],"elasticity,":[127],"if":[129],"elongation":[131,209],"of":[132,163,169,210,238],"measured":[136],"estimated":[141,245],"its":[143],"characteristic,":[145],"absorption":[147,162,194,298],"torque":[149],"be":[152,290],"performed.":[153],"this":[155],"paper,":[156],"firstly":[158],"compare":[159,192],"harmonic":[170,269],"typical":[175],"reduction":[176],"For":[178],"comparison,":[179],"build":[181],"1":[183],"DoF":[184],"link":[185,220,227,250,271,276],"both":[188],"mechanism,":[190,272],"drop":[196],"weight":[197],"test.":[198],"Then,":[199],"measuring":[207],"estimating":[214],"performed":[222],"evaluated":[224],"with":[225,229,233,267],"fix":[230],"axis":[231],"replaced":[232],"motor.":[235],"The":[236],"gain":[237],"position":[239],"was":[241],"regulated":[242],"in":[251],"back":[254],"motor":[257],"force.":[262],"As":[263],"result,":[265],"comparing":[266],"driven":[275],"reduce":[279],"approximately":[283,293],"66%.":[284],"reduced":[291],"10%":[294]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
