{"id":"https://openalex.org/W2106873712","doi":"https://doi.org/10.1109/robot.1987.1087922","title":"A model of hierarchical design for robotic manipulators","display_name":"A model of hierarchical design for robotic manipulators","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W2106873712","doi":"https://doi.org/10.1109/robot.1987.1087922","mag":"2106873712"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1987.1087922","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087922","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5034165617","display_name":"Henry S. Curtis","orcid":null},"institutions":[{"id":"https://openalex.org/I92446798","display_name":"Colorado State University","ror":"https://ror.org/03k1gpj17","country_code":"US","type":"education","lineage":["https://openalex.org/I92446798"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Curtis","raw_affiliation_strings":["Department of Mechanical Engineering, Colorado State University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Colorado State University","institution_ids":["https://openalex.org/I92446798"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024835303","display_name":"Patrick A. Fitzhorn","orcid":null},"institutions":[{"id":"https://openalex.org/I92446798","display_name":"Colorado State University","ror":"https://ror.org/03k1gpj17","country_code":"US","type":"education","lineage":["https://openalex.org/I92446798"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"P. Fitzhorn","raw_affiliation_strings":["Department of Mechanical Engineering, Colorado State University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Colorado State University","institution_ids":["https://openalex.org/I92446798"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I92446798"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.25740898,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"4","issue":null,"first_page":"1110","last_page":"1115"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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":0.9990000128746033,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6750437021255493},{"id":"https://openalex.org/keywords/expert-system","display_name":"Expert system","score":0.6435765027999878},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.6134267449378967},{"id":"https://openalex.org/keywords/sizing","display_name":"Sizing","score":0.559734046459198},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5266889333724976},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5038205981254578},{"id":"https://openalex.org/keywords/knowledge-base","display_name":"Knowledge base","score":0.41042256355285645},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37740105390548706},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2176627814769745}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6750437021255493},{"id":"https://openalex.org/C58328972","wikidata":"https://www.wikidata.org/wiki/Q184609","display_name":"Expert system","level":2,"score":0.6435765027999878},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.6134267449378967},{"id":"https://openalex.org/C2777767291","wikidata":"https://www.wikidata.org/wiki/Q1080291","display_name":"Sizing","level":2,"score":0.559734046459198},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5266889333724976},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5038205981254578},{"id":"https://openalex.org/C4554734","wikidata":"https://www.wikidata.org/wiki/Q593744","display_name":"Knowledge base","level":2,"score":0.41042256355285645},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37740105390548706},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2176627814769745},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1987.1087922","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087922","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W611848211","https://openalex.org/W649112540","https://openalex.org/W1586338668","https://openalex.org/W1966674888","https://openalex.org/W2021508561","https://openalex.org/W2027878288","https://openalex.org/W2029785004","https://openalex.org/W2038386889","https://openalex.org/W2041647028","https://openalex.org/W2100185791","https://openalex.org/W3030595479","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W4256616184","https://openalex.org/W2395092600","https://openalex.org/W2186155471","https://openalex.org/W632005469","https://openalex.org/W2000803355","https://openalex.org/W1830892038","https://openalex.org/W2921792786","https://openalex.org/W1752292405","https://openalex.org/W2388729575","https://openalex.org/W2911435924"],"abstract_inverted_index":{"An":[0],"interesting":[1,21],"model":[2,25],"of":[3,14,16,23,34,44,72,86,93,99,102,110,122],"design":[4,11,48,98],"is":[5,163],"discussed":[6],"and":[7,39,61,70,80,84,90,108,117,140,151],"used":[8],"to":[9,54,64,130],"automatically":[10],"a":[12,31,45,100],"subset":[13,101],"n-degree":[15],"freedom":[17],"robotic":[18,104,123],"manipulators.":[19,105],"The":[20,106],"aspect":[22],"this":[24],"resides":[26],"in":[27],"its":[28],"implementation":[29],"using":[30],"hierarchical":[32],"arrangement":[33],"multiple":[35],"expert":[36,51,87,112,161],"systems,":[37],"governed":[38],"controlled":[40],"by":[41],"the":[42,56,73,78,82,91,97,103,111,120,136,146],"analog":[43],"project":[46],"or":[47],"manager.":[49],"This":[50,75],"manager":[52,113],"acts":[53],"divide":[55],"problem":[57],"into":[58],"functional":[59],"units":[60],"pass":[62],"information":[63],"lower":[65],"level":[66],"experts":[67],"for":[68,96,157],"resolution":[69,159],"convergence":[71],"design.":[74],"paper":[76],"presents":[77],"concept":[79],"investigates":[81],"number":[83],"type":[85],"systems":[88,95,126,162],"required":[89],"organization":[92],"those":[94],"character":[107],"processes":[109],"program":[114],"are":[115,153],"defined":[116],"explored.":[118],"In":[119,144],"case":[121],"design,":[124],"subexpert":[125],"may":[127],"be":[128],"dedicated":[129],"configuration":[131],"selection,":[132,134],"servo-motor":[133],"sizing":[135],"structural":[137],"members,":[138],"kinetic":[139],"kinematic":[141],"calculations,":[142],"etc.":[143],"addition,":[145],"knowledge,":[147],"data":[148],"base":[149],"requirements":[150],"distribution":[152],"discussed.":[154],"A":[155],"methodology":[156],"conflict":[158],"between":[160],"proposed.":[164]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}