{"id":"https://openalex.org/W2475816351","doi":"https://doi.org/10.1109/biorob.2016.7523614","title":"Dynamic Hybrid Position Force Control using Virtual Internal Model to realize a cutting task by a snake-like robot","display_name":"Dynamic Hybrid Position Force Control using Virtual Internal Model to realize a cutting task by a snake-like robot","publication_year":2016,"publication_date":"2016-06-01","ids":{"openalex":"https://openalex.org/W2475816351","doi":"https://doi.org/10.1109/biorob.2016.7523614","mag":"2475816351"},"language":"en","primary_location":{"id":"doi:10.1109/biorob.2016.7523614","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523614","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","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/A5069372300","display_name":"Shunsuke Nansai","orcid":"https://orcid.org/0000-0001-8459-9185"},"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":"Shunsuke Nansai","raw_affiliation_strings":["Department of Robotics and Mechatronics, Tokyo Denki University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics, Tokyo Denki University, Tokyo, Japan","institution_ids":["https://openalex.org/I165522056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041057723","display_name":"Mohan Rajesh Elara","orcid":"https://orcid.org/0000-0001-6504-1530"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Mohan Rajesh Elara","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology and Design, Singapore"],"affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053576672","display_name":"Masami Iwase","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":false,"raw_author_name":"Masami Iwase","raw_affiliation_strings":["Department of Robotics and Mechatronics, Tokyo Denki University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics, Tokyo Denki University, Tokyo, Japan","institution_ids":["https://openalex.org/I165522056"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5069372300"],"corresponding_institution_ids":["https://openalex.org/I165522056"],"apc_list":null,"apc_paid":null,"fwci":1.339,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.82097693,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"151","last_page":"156"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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":0.9991999864578247,"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/T10868","display_name":"Soft Robotics and Applications","score":0.998199999332428,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/robot","display_name":"Robot","score":0.7066291570663452},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5341016054153442},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5160951018333435},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5030891299247742},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5001626014709473},{"id":"https://openalex.org/keywords/internal-model","display_name":"Internal model","score":0.48058295249938965},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4776422083377838},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4542329013347626},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.4438014626502991},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.43869549036026},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4353151321411133},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.43019479513168335},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4282154440879822},{"id":"https://openalex.org/keywords/servomechanism","display_name":"Servomechanism","score":0.422657310962677},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.416951984167099},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.41002386808395386},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4030328392982483},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3990921378135681},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.33545777201652527},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2910979390144348},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2795155346393585}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7066291570663452},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5341016054153442},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5160951018333435},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5030891299247742},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5001626014709473},{"id":"https://openalex.org/C28427503","wikidata":"https://www.wikidata.org/wiki/Q13580300","display_name":"Internal model","level":3,"score":0.48058295249938965},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4776422083377838},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4542329013347626},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.4438014626502991},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.43869549036026},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4353151321411133},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.43019479513168335},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4282154440879822},{"id":"https://openalex.org/C49503481","wikidata":"https://www.wikidata.org/wiki/Q640815","display_name":"Servomechanism","level":2,"score":0.422657310962677},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.416951984167099},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.41002386808395386},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4030328392982483},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3990921378135681},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.33545777201652527},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2910979390144348},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2795155346393585},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob.2016.7523614","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523614","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1495757667","https://openalex.org/W1573670163","https://openalex.org/W1902665437","https://openalex.org/W1936433498","https://openalex.org/W1995087741","https://openalex.org/W2004664957","https://openalex.org/W2009127079","https://openalex.org/W2042994047","https://openalex.org/W2069194981","https://openalex.org/W2099428832","https://openalex.org/W2100972151","https://openalex.org/W2121793706","https://openalex.org/W2124105967","https://openalex.org/W2127662105","https://openalex.org/W2128095394","https://openalex.org/W2129995200","https://openalex.org/W2133834164","https://openalex.org/W2143030465","https://openalex.org/W2145126082","https://openalex.org/W2145378030","https://openalex.org/W2155213497","https://openalex.org/W2155661331","https://openalex.org/W2162703587","https://openalex.org/W2163942943","https://openalex.org/W2165092969","https://openalex.org/W2165903554","https://openalex.org/W2316941557","https://openalex.org/W6629672529","https://openalex.org/W6640397505","https://openalex.org/W6661243120","https://openalex.org/W6683130207"],"related_works":["https://openalex.org/W2368499869","https://openalex.org/W1896148996","https://openalex.org/W2387641482","https://openalex.org/W2323946670","https://openalex.org/W2066544982","https://openalex.org/W2115261773","https://openalex.org/W2021648837","https://openalex.org/W2328845708","https://openalex.org/W1594750916","https://openalex.org/W2049051459"],"abstract_inverted_index":{"A":[0,17],"real":[1,26,65,103],"snake":[2],"has":[3,10],"simple":[4],"figure":[5],"like":[6],"a":[7,94,190],"string,":[8],"and":[9,113,172],"highly":[11,22],"adaptability":[12,23],"corresponding":[13,34],"to":[14,35,44,74,79,84,125],"the":[15,25,36,48,60,69,81,86,90,98,102,106,110,114,127,130,144,150,161,167,173,183],"environments/tasks.":[16,37],"snake-like":[18,49,70,91],"robot":[19,33,71],"mimics":[20],"such":[21],"of":[24,47,59,67,97,182],"snake,":[27],"is":[28,62,72,136,147,170,179,187],"expected":[29,73],"as":[30,93,149],"an":[31],"adaptable":[32],"Many":[38],"literatures":[39],"have":[40],"reported":[41,53],"with":[42],"respect":[43],"locomotion":[45],"controls":[46],"robot,":[50,92],"but":[51],"haven't":[52],"studies":[54],"for":[55],"applications.":[56],"However,":[57],"enhancement":[58],"applications":[61],"required":[63,122],"in":[64,101,109,117,123],"scenes":[66],"which":[68],"work.":[75],"This":[76],"paper":[77],"reports":[78],"design":[80],"force":[82,99,107,151],"controller":[83],"realize":[85,126],"cutting":[87,128],"task":[88],"by":[89],"leading":[95],"example":[96],"control":[100,108,116,152,185],"scenes.":[104],"Since":[105],"feed":[111],"direction":[112,120],"servo":[115],"its":[118],"normal":[119],"are":[121],"order":[124],"task,":[129],"Dynamic":[131,174],"Hybrid":[132,175],"Position/Force":[133,176],"Control":[134,158,177],"System":[135,159,178],"designed.":[137],"The":[138,154],"Virtual":[139,162],"Internal":[140,163],"Model":[141,155,164],"based":[142,165],"on":[143,166],"impedance":[145,168],"model":[146,169],"utilized":[148],"method.":[153],"Following":[156],"Servo":[157],"utilizing":[160],"designed,":[171],"realized.":[180],"Effectiveness":[181],"designed":[184],"system":[186],"verified":[188],"through":[189],"numerical":[191],"simulation.":[192]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
