{"id":"https://openalex.org/W6940751908","doi":"https://doi.org/10.1109/ur65550.2025.11078132","title":"Novel Layered Multi Angular Gearless Transmission (L-MAGT) Mechanism for Agile Manipulation","display_name":"Novel Layered Multi Angular Gearless Transmission (L-MAGT) Mechanism for Agile Manipulation","publication_year":2025,"publication_date":"2025-06-30","ids":{"openalex":"https://openalex.org/W6940751908","doi":"https://doi.org/10.1109/ur65550.2025.11078132"},"language":"en","primary_location":{"id":"doi:10.1109/ur65550.2025.11078132","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur65550.2025.11078132","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 22nd International Conference on Ubiquitous Robots (UR)","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":null,"display_name":"Jooyoung Park","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jooyoung Park","raw_affiliation_strings":["Seoul National University,Department of Intelligence and Information,Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Intelligence and Information,Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Eunho Sung","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Eunho Sung","raw_affiliation_strings":["Seoul National University,Department of Intelligence and Information,Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Intelligence and Information,Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Seungbin You","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seungbin You","raw_affiliation_strings":["Seoul National University,Department of Intelligence and Information,Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Intelligence and Information,Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Juhyun Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Juhyun Kim","raw_affiliation_strings":["Seoul National University,Department of Intelligence and Information,Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Intelligence and Information,Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Seunghwan Byun","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seunghwan Byun","raw_affiliation_strings":["Seoul National University,Department of Intelligence and Information,Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Intelligence and Information,Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Dongjun Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dongjun Kim","raw_affiliation_strings":["Seoul National University,Department of Intelligence and Information,Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Intelligence and Information,Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":null,"display_name":"Jaeheung Park","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaeheung Park","raw_affiliation_strings":["Seoul National University,Department of Intelligence and Information,Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Intelligence and Information,Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.45560824,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"418","last_page":"425"},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T10451","display_name":"Mycorrhizal Fungi and Plant Interactions","score":0.5045999884605408,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10451","display_name":"Mycorrhizal Fungi and Plant Interactions","score":0.5045999884605408,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10015","display_name":"Genomics and Phylogenetic Studies","score":0.15279999375343323,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10825","display_name":"Plant Pathogens and Fungal Diseases","score":0.03759999945759773,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6640999913215637},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6176000237464905},{"id":"https://openalex.org/keywords/backlash","display_name":"Backlash","score":0.5340999960899353},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5131000280380249},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4977000057697296},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.48330000042915344},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.4803999960422516},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.461899995803833},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40630000829696655},{"id":"https://openalex.org/keywords/continuously-variable-transmission","display_name":"Continuously variable transmission","score":0.40230000019073486}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6640999913215637},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6176000237464905},{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.5340999960899353},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5131000280380249},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4977000057697296},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4918999969959259},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.48330000042915344},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.4803999960422516},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.461899995803833},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40630000829696655},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4041999876499176},{"id":"https://openalex.org/C193235527","wikidata":"https://www.wikidata.org/wiki/Q863787","display_name":"Continuously variable transmission","level":3,"score":0.40230000019073486},{"id":"https://openalex.org/C1486788","wikidata":"https://www.wikidata.org/wiki/Q1425051","display_name":"Linear actuator","level":3,"score":0.39980000257492065},{"id":"https://openalex.org/C2781184374","wikidata":"https://www.wikidata.org/wiki/Q42586","display_name":"Elbow","level":2,"score":0.38839998841285706},{"id":"https://openalex.org/C63316402","wikidata":"https://www.wikidata.org/wiki/Q862003","display_name":"Universal joint","level":2,"score":0.3630000054836273},{"id":"https://openalex.org/C51221625","wikidata":"https://www.wikidata.org/wiki/Q1751466","display_name":"Coaxial","level":2,"score":0.3610000014305115},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3449999988079071},{"id":"https://openalex.org/C30358287","wikidata":"https://www.wikidata.org/wiki/Q194302","display_name":"Clutch","level":2,"score":0.3416000008583069},{"id":"https://openalex.org/C92018576","wikidata":"https://www.wikidata.org/wiki/Q3242194","display_name":"Power transmission","level":3,"score":0.3409000039100647},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.33809998631477356},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33169999718666077},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.3262999951839447},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.314300000667572},{"id":"https://openalex.org/C2778216619","wikidata":"https://www.wikidata.org/wiki/Q185706","display_name":"Wrist","level":2,"score":0.3124000132083893},{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.3077000081539154},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2870999872684479},{"id":"https://openalex.org/C108439606","wikidata":"https://www.wikidata.org/wiki/Q3305038","display_name":"Angular displacement","level":2,"score":0.2777999937534332},{"id":"https://openalex.org/C21261922","wikidata":"https://www.wikidata.org/wiki/Q12529","display_name":"Worm drive","level":3,"score":0.2727000117301941},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.26579999923706055},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.26179999113082886},{"id":"https://openalex.org/C2776175482","wikidata":"https://www.wikidata.org/wiki/Q1195816","display_name":"Transfer (computing)","level":2,"score":0.25870001316070557},{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.25619998574256897}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ur65550.2025.11078132","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur65550.2025.11078132","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 22nd International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.6239264607429504,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G1255576478","display_name":null,"funder_award_id":"RS-202400461583","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W117038317","https://openalex.org/W2050495317","https://openalex.org/W2050547097","https://openalex.org/W2054347522","https://openalex.org/W2096204844","https://openalex.org/W2804481957","https://openalex.org/W2899462463","https://openalex.org/W2922147603","https://openalex.org/W2926434564","https://openalex.org/W3192557124","https://openalex.org/W4285102552","https://openalex.org/W4385456758","https://openalex.org/W4390480937","https://openalex.org/W4390481302","https://openalex.org/W4405786565"],"related_works":[],"abstract_inverted_index":{"This":[0,127],"paper":[1],"introduces":[2],"a":[3,21,81,101,185,190,237,243],"multi-axis":[4,245],"power":[5,57,246],"transfer":[6,247],"mechanism":[7,197,225,248],"that":[8,195],"is":[9,31,97],"applicable":[10],"when":[11],"actuators":[12],"and":[13,121,189,204,211,229],"their":[14],"corresponding":[15],"joints":[16],"are":[17],"placed":[18],"separately":[19],"in":[20,25,71,135,145],"manipulator.":[22,77,141,156],"In":[23,89],"particular,":[24],"this":[26,90,224],"work,":[27],"the":[28,33,43,51,59,62,69,72,76,110,125,130,133,136,140,146,155,158,169,179,196,221],"humanoid":[29,227],"arm":[30],"considered":[32],"primary":[34],"target":[35],"of":[36,68,75,124,132,139,154,202,223],"application.":[37],"A":[38],"modified":[39],"Hobson":[40],"joint,":[41],"termed":[42],"Multi":[44],"Angular":[45],"Gearless":[46],"Transmission":[47],"(MAGT),":[48],"serves":[49],"as":[50,178],"central":[52],"mechanism.":[53],"The":[54,78,142,218,231],"system":[55,193],"transmits":[56,108],"through":[58,236],"elbow":[60,166],"to":[61,85,99,150,250],"wrist":[63,102,112],"without":[64],"requiring":[65],"direct":[66],"placement":[67],"actuator":[70,134],"distal":[73,137,147],"part":[74,138,148],"design":[79],"uses":[80],"layered":[82],"MAGT":[83,159],"(L-MAGT)":[84],"convey":[86],"coaxial":[87],"inputs.":[88],"study,":[91],"L-MAGT":[92,107],"which":[93,234],"employs":[94],"three":[95,104],"layers":[96],"applied":[98],"implement":[100],"with":[103,174,239],"axes.":[105],"After":[106],"inputs,":[109],"coupled":[111],"3":[113],"axes":[114],"structure":[115],"converts":[116],"them":[117],"into":[118],"roll,":[119],"yaw,":[120],"pitch":[122],"motion":[123,191,203],"wrist.":[126],"approach":[128],"reduces":[129],"weight":[131,143],"reduction":[144],"leads":[149],"more":[151],"agile":[152],"manipulation":[153],"Furthermore,":[157],"ensures":[160],"constant":[161],"velocity":[162,170],"transmission":[163],"across":[164],"varying":[165],"angles,":[167,241],"eliminating":[168],"fluctuation":[171],"typically":[172],"associated":[173],"universal":[175],"joints,":[176],"such":[177],"Cardan":[180],"joint.":[181],"Experimental":[182],"validation":[183],"using":[184],"3D":[186,215],"printed":[187,216],"prototype":[188],"capture":[192],"shows":[194],"achieves":[198],"its":[199],"intended":[200],"range":[201],"maintains":[205],"acceptable":[206],"repeatability,":[207],"despite":[208],"some":[209],"backlash":[210],"compliance":[212],"introduced":[213],"by":[214],"components.":[217],"results":[219],"confirm":[220],"feasibility":[222],"for":[226],"arms":[228],"manipulators.":[230],"proposed":[232],"mechanism,":[233],"passes":[235],"joint":[238],"variable":[240],"offers":[242],"novel":[244],"solution":[249],"manipulator":[251],"design.":[252]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
