{"id":"https://openalex.org/W2623479457","doi":"https://doi.org/10.1109/tro.2017.2705052","title":"Benefiting From Kinematic Redundancy Alongside Mono- and Biarticular Parallel Compliances for Energy Efficiency in Cyclic Tasks","display_name":"Benefiting From Kinematic Redundancy Alongside Mono- and Biarticular Parallel Compliances for Energy Efficiency in Cyclic Tasks","publication_year":2017,"publication_date":"2017-06-06","ids":{"openalex":"https://openalex.org/W2623479457","doi":"https://doi.org/10.1109/tro.2017.2705052","mag":"2623479457"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2017.2705052","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2017.2705052","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","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/A5016584849","display_name":"Hamed Jalaly Bidgoly","orcid":"https://orcid.org/0000-0003-1863-8662"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Hamed Jalaly Bidgoly","raw_affiliation_strings":["Cognitive Systems Laboratory, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cognitive Systems Laboratory, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039303866","display_name":"Atoosa Parsa","orcid":"https://orcid.org/0000-0003-1168-026X"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Atoosa Parsa","raw_affiliation_strings":["Cognitive Systems Laboratory, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cognitive Systems Laboratory, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086648677","display_name":"Mohammad Javad Yazdanpanah","orcid":"https://orcid.org/0000-0001-7098-8331"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mohammad Javad Yazdanpanah","raw_affiliation_strings":["Advanced Control Systems Laboratory, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Control Systems Laboratory, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072135442","display_name":"Majid Nili Ahmadabadi","orcid":"https://orcid.org/0000-0002-6370-6057"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Majid Nili Ahmadabadi","raw_affiliation_strings":["Cognitive Systems Laboratory, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cognitive Systems Laboratory, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I23946033"],"apc_list":null,"apc_paid":null,"fwci":1.1465,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.76389228,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"33","issue":"5","first_page":"1088","last_page":"1102"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"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":0.998199999332428,"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/kinematics","display_name":"Kinematics","score":0.8537262678146362},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.840864896774292},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.6939159035682678},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6133887767791748},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.613281786441803},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5841296315193176},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5560017228126526},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.49474045634269714},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.49057596921920776},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45570099353790283},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.44781824946403503},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2629299759864807},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20820534229278564},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0685833990573883}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8537262678146362},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.840864896774292},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.6939159035682678},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6133887767791748},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.613281786441803},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5841296315193176},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5560017228126526},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.49474045634269714},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.49057596921920776},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45570099353790283},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.44781824946403503},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2629299759864807},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20820534229278564},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0685833990573883},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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":1,"locations":[{"id":"doi:10.1109/tro.2017.2705052","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2017.2705052","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8999999761581421,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322667","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1970628739","https://openalex.org/W1971536112","https://openalex.org/W1990537961","https://openalex.org/W1991095611","https://openalex.org/W1993314711","https://openalex.org/W2021150911","https://openalex.org/W2036607116","https://openalex.org/W2038873597","https://openalex.org/W2040286596","https://openalex.org/W2043977816","https://openalex.org/W2047120374","https://openalex.org/W2048183735","https://openalex.org/W2090429753","https://openalex.org/W2098329609","https://openalex.org/W2100790457","https://openalex.org/W2101998869","https://openalex.org/W2107799164","https://openalex.org/W2108154420","https://openalex.org/W2120094623","https://openalex.org/W2120386216","https://openalex.org/W2134960299","https://openalex.org/W2135004628","https://openalex.org/W2151471214","https://openalex.org/W2153551999","https://openalex.org/W2163668399","https://openalex.org/W2172062959","https://openalex.org/W2186033507","https://openalex.org/W2194531621","https://openalex.org/W2322392813","https://openalex.org/W2564128513","https://openalex.org/W4243385754","https://openalex.org/W6655704675"],"related_works":["https://openalex.org/W2555022781","https://openalex.org/W4323924603","https://openalex.org/W2349561638","https://openalex.org/W2536148680","https://openalex.org/W2765315036","https://openalex.org/W2245353192","https://openalex.org/W2906293295","https://openalex.org/W2573562027","https://openalex.org/W2044589112","https://openalex.org/W1571967584"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,24,101,139],"answer":[4,98],"two":[5,66],"interleaved":[6],"questions.":[7],"The":[8,80,154,175],"first":[9],"one":[10,56],"is,":[11],"having":[12,221],"a":[13,18,114,132,160,166],"redundant":[14],"serial":[15],"manipulator":[16,164,170],"with":[17],"given":[19],"cyclic":[20],"task,":[21],"how":[22,84,141,180],"can":[23],"benefit":[25],"simultaneously":[26],"from":[27,196],"both":[28],"natural":[29,78,111],"dynamics":[30,112],"modification":[31,107],"(NDM)":[32],"and":[33,58,89,108,165,189,209,211],"kinematic":[34,72,86,181],"redundancy":[35,73,87,182],"resolution":[36,88,183],"to":[37,74,93,223],"reduce":[38,224],"the":[39,43,76,90,95,103,122,142,148,197,202,205,214,217,225],"actuators'":[40],"torque?":[41],"Here,":[42],"NDM":[44,91],"is":[45,83,157],"done":[46],"by":[47],"devising":[48],"parallel":[49],"nonlinear":[50,59],"monoarticular":[51],"compliances":[52,61,126],"(MACs),":[53],"which":[54,63],"span":[55],"joint,":[57],"biarticular":[60],"(BACs),":[62],"pass":[64],"over":[65],"joints.":[67],"We":[68,119],"take":[69],"advantage":[70],"of":[71,105,110,124,135,144,150,186,201,207,220],"exploit":[75],"robot's":[77],"dynamics.":[79],"second":[81],"question":[82],"do":[85],"interact":[92],"minimize":[94],"cost?":[96],"To":[97],"these":[99],"questions,":[100],"cast":[102],"problem":[104],"simultaneous":[106],"exploitation":[109],"into":[113],"constrained":[115],"multiobjective":[116],"optimization":[117],"problem.":[118],"show":[120],"that":[121],"set":[123],"optimal":[125,151],"has":[127],"an":[128],"analytical":[129],"solution":[130],"as":[131],"parametric":[133],"function":[134,146],"joint":[136],"trajectories.":[137],"Accordingly,":[138],"study":[140],"components":[143],"cost":[145],"affect":[147],"profile":[149],"compliant":[152],"elements.":[153],"proposed":[155],"method":[156],"implemented":[158],"on":[159,179],"simulated":[161,167],"planar":[162],"3-DoF":[163],"nonplanar":[168],"4-DoF":[169],"for":[171],"three":[172],"different":[173],"tasks.":[174],"results":[176,203],"shed":[177],"light":[178],"influences":[184],"efficiency":[185],"using":[187],"MACs":[188],"BACs":[190,210,222],"and,":[191],"consequently,":[192],"increases":[193],"attainable":[194],"gains":[195],"NDM.":[198],"Moreover,":[199],"analysis":[200],"specifies":[204],"roles":[206],"mono-":[208],"especially":[212],"explains":[213],"reason":[215],"behind":[216],"particular":[218],"importance":[219],"actuation":[226],"cost.":[227]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
