{"id":"https://openalex.org/W4409494532","doi":"https://doi.org/10.1109/tie.2025.3558063","title":"Kinematic Control of Humanoid Upper Body Robot Using Virtual Flexible Joint Dynamics Primitive and Quasi-Sliding Mode Observer","display_name":"Kinematic Control of Humanoid Upper Body Robot Using Virtual Flexible Joint Dynamics Primitive and Quasi-Sliding Mode Observer","publication_year":2025,"publication_date":"2025-04-16","ids":{"openalex":"https://openalex.org/W4409494532","doi":"https://doi.org/10.1109/tie.2025.3558063"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2025.3558063","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3558063","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-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/A5101485890","display_name":"Hong Yin","orcid":"https://orcid.org/0000-0003-2006-6819"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210161462","display_name":"Heilongjiang Institute of Technology","ror":"https://ror.org/05x0m9n95","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161462"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Yin","raw_affiliation_strings":["School of Mechanics Engineering, Harbin Institute of Technology (HIT), Harbin, Heilongjiang, China","School of Mechanics Engineering, Harbin Institute of Technology (HIT), Harbin Heilongjiang, China"],"raw_orcid":"https://orcid.org/0000-0003-2006-6819","affiliations":[{"raw_affiliation_string":"School of Mechanics Engineering, Harbin Institute of Technology (HIT), Harbin, Heilongjiang, China","institution_ids":["https://openalex.org/I4210161462","https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Mechanics Engineering, Harbin Institute of Technology (HIT), Harbin Heilongjiang, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083079564","display_name":"Hongzhe Jin","orcid":"https://orcid.org/0000-0002-7469-6907"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210161462","display_name":"Heilongjiang Institute of Technology","ror":"https://ror.org/05x0m9n95","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161462"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongzhe Jin","raw_affiliation_strings":["School of Mechanics Engineering, Harbin Institute of Technology (HIT), Harbin, Heilongjiang, China","School of Mechanics Engineering, Harbin Institute of Technology (HIT), Harbin Heilongjiang, China"],"raw_orcid":"https://orcid.org/0000-0002-7469-6907","affiliations":[{"raw_affiliation_string":"School of Mechanics Engineering, Harbin Institute of Technology (HIT), Harbin, Heilongjiang, China","institution_ids":["https://openalex.org/I4210161462","https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Mechanics Engineering, Harbin Institute of Technology (HIT), Harbin Heilongjiang, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054149723","display_name":"F. D. Ju","orcid":"https://orcid.org/0000-0002-3374-858X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210161462","display_name":"Heilongjiang Institute of Technology","ror":"https://ror.org/05x0m9n95","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161462"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fengjia Ju","raw_affiliation_strings":["School of Mechanics Engineering, Harbin Institute of Technology (HIT), Harbin, Heilongjiang, China","School of Mechanics Engineering, Harbin Institute of Technology (HIT), Harbin Heilongjiang, China"],"raw_orcid":"https://orcid.org/0000-0002-3374-858X","affiliations":[{"raw_affiliation_string":"School of Mechanics Engineering, Harbin Institute of Technology (HIT), Harbin, Heilongjiang, China","institution_ids":["https://openalex.org/I4210161462","https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Mechanics Engineering, Harbin Institute of Technology (HIT), Harbin Heilongjiang, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073354795","display_name":"Jiaxiu Liu","orcid":"https://orcid.org/0009-0002-6068-630X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210161462","display_name":"Heilongjiang Institute of Technology","ror":"https://ror.org/05x0m9n95","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161462"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaxiu Liu","raw_affiliation_strings":["School of Mechanics Engineering, Harbin Institute of Technology (HIT), Harbin, Heilongjiang, China","School of Mechanics Engineering, Harbin Institute of Technology (HIT), Harbin Heilongjiang, China"],"raw_orcid":"https://orcid.org/0009-0002-6068-630X","affiliations":[{"raw_affiliation_string":"School of Mechanics Engineering, Harbin Institute of Technology (HIT), Harbin, Heilongjiang, China","institution_ids":["https://openalex.org/I4210161462","https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Mechanics Engineering, Harbin Institute of Technology (HIT), Harbin Heilongjiang, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065834747","display_name":"Mingguo Zhao","orcid":"https://orcid.org/0000-0001-9694-6957"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingguo Zhao","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9694-6957","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069459810","display_name":"Jie Zhao","orcid":"https://orcid.org/0000-0002-6086-9387"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210161462","display_name":"Heilongjiang Institute of Technology","ror":"https://ror.org/05x0m9n95","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161462"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zhao","raw_affiliation_strings":["School of Mechanics Engineering, Harbin Institute of Technology (HIT), Harbin, Heilongjiang, China","School of Mechanics Engineering, Harbin Institute of Technology (HIT), Harbin Heilongjiang, China"],"raw_orcid":"https://orcid.org/0000-0002-6086-9387","affiliations":[{"raw_affiliation_string":"School of Mechanics Engineering, Harbin Institute of Technology (HIT), Harbin, Heilongjiang, China","institution_ids":["https://openalex.org/I4210161462","https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Mechanics Engineering, Harbin Institute of Technology (HIT), Harbin Heilongjiang, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6891,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.82433927,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"72","issue":"11","first_page":"11464","last_page":"11477"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.949400007724762,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.949400007724762,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9193999767303467,"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/kinematics","display_name":"Kinematics","score":0.7754402756690979},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6769257187843323},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5608274936676025},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5563164949417114},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5501457452774048},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5112709999084473},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5076946020126343},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.49335041642189026},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4752897024154663},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4741705656051636},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.43340691924095154},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.34758707880973816},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3333287835121155},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3224793076515198},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30886104702949524},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26792076230049133},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21899542212486267},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17350676655769348},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.14739111065864563},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.07901626825332642}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7754402756690979},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6769257187843323},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5608274936676025},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5563164949417114},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5501457452774048},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5112709999084473},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5076946020126343},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.49335041642189026},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4752897024154663},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4741705656051636},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.43340691924095154},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34758707880973816},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3333287835121155},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3224793076515198},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30886104702949524},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26792076230049133},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21899542212486267},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17350676655769348},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.14739111065864563},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.07901626825332642},{"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/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"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/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2025.3558063","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3558063","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5370040448","display_name":null,"funder_award_id":"92048301","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6330637895","display_name":null,"funder_award_id":"62373121","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1964649988","https://openalex.org/W1971745761","https://openalex.org/W1979482861","https://openalex.org/W2026406060","https://openalex.org/W2058334894","https://openalex.org/W2097696157","https://openalex.org/W2119403459","https://openalex.org/W2135493101","https://openalex.org/W2149459291","https://openalex.org/W2157783419","https://openalex.org/W2180584133","https://openalex.org/W2768362740","https://openalex.org/W2803045734","https://openalex.org/W2906482729","https://openalex.org/W2994874570","https://openalex.org/W2996951424","https://openalex.org/W3004244984","https://openalex.org/W3035291983","https://openalex.org/W3065151783","https://openalex.org/W3148055824","https://openalex.org/W3156951196","https://openalex.org/W3159162586","https://openalex.org/W3186453104","https://openalex.org/W3214085067","https://openalex.org/W3217539453","https://openalex.org/W4200566992","https://openalex.org/W4214864300","https://openalex.org/W4214870184","https://openalex.org/W4223476016","https://openalex.org/W4225625499","https://openalex.org/W4308474478","https://openalex.org/W4313423377","https://openalex.org/W4313477332","https://openalex.org/W4383815400","https://openalex.org/W4385742341","https://openalex.org/W4386597322","https://openalex.org/W4386702614","https://openalex.org/W4391806875","https://openalex.org/W4392437793","https://openalex.org/W4392719385","https://openalex.org/W4393942809","https://openalex.org/W4393948478","https://openalex.org/W4394612642","https://openalex.org/W4396817439","https://openalex.org/W4406119554"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W4390481035","https://openalex.org/W2163555676","https://openalex.org/W2776995446","https://openalex.org/W4386128912","https://openalex.org/W2402852349"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"an":[3],"innovative":[4],"approach":[5],"to":[6,50,130,170],"robotic":[7],"kinematic":[8,42,195],"control":[9,43,58,111,196],"through":[10],"a":[11,30,45,67,156,164],"state-disturbance":[12],"observer":[13,72,109,119],"framework.":[14],"Inspired":[15],"by":[16,126],"the":[17,20,27,41,61,92,104,108,117,139,142,152,174,189],"dynamics":[18,34],"of":[19,44,107,141],"human":[21],"arm,":[22],"this":[23],"study":[24],"introduces,":[25],"for":[26,73],"first":[28],"time,":[29],"virtual":[31],"flexible":[32],"joint":[33,85,99],"primitive":[35],"(VFJDP)":[36],"and":[37,53,87,95,110,122,163,180],"integrates":[38],"it":[39],"into":[40],"humanoid":[46,199],"upper":[47],"body":[48],"robot":[49],"generate":[51],"smooth":[52],"precise":[54,81],"movements.":[55],"Two":[56],"jounce-level":[57],"schemes":[59,79],"leveraging":[60],"VFJDP":[62],"are":[63],"developed,":[64],"along":[65],"with":[66],"novel":[68],"quasi-sliding":[69],"mode":[70],"disturbance":[71,123],"state":[74,121],"feedback":[75],"control.":[76],"The":[77],"VFJDP-based":[78,153],"enable":[80],"trajectory":[82,160],"tracking":[83,161],"within":[84],"angle":[86],"velocity":[88],"constraints,":[89],"significantly":[90],"improving":[91],"robot\u2019s":[93],"manipulability":[94,168],"producing":[96],"higher":[97],"order":[98],"commands.":[100],"Theoretical":[101],"analysis":[102],"proves":[103],"asymptotic":[105],"convergence":[106],"algorithm.":[112],"Comparative":[113],"simulations":[114],"show":[115],"that":[116],"proposed":[118,143,190],"improves":[120],"estimation":[124],"accuracy":[125,162],"over":[127],"80%":[128],"compared":[129,169],"state-of-the-art":[131],"methods.":[132,185],"Simulations":[133],"under":[134],"noisy":[135],"conditions":[136],"further":[137],"verify":[138],"robustness":[140],"approach.":[144],"Furthermore,":[145],"experiments":[146],"involving":[147],"visual":[148],"servoing":[149],"tasks":[150],"validate":[151],"schemes,":[154],"achieving":[155],"16%":[157],"improvement":[158],"in":[159,167,193,198],"20%":[165],"increase":[166],"existing":[171],"methods,":[172],"including":[173],"improved":[175],"clamping":[176],"weighted":[177],"least-norm":[178],"(ICWLN)":[179],"zeroing":[181],"neural":[182],"network":[183],"(ZNN)":[184],"These":[186],"results":[187],"confirm":[188],"framework\u2019s":[191],"effectiveness":[192],"tackling":[194],"challenges":[197],"robotics.":[200]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
