{"id":"https://openalex.org/W2806266954","doi":"https://doi.org/10.1142/s0219843618500160","title":"A Power Series Based Inverse-Kinematics Solution of Humanoid Robot Finger with Coupled Joints","display_name":"A Power Series Based Inverse-Kinematics Solution of Humanoid Robot Finger with Coupled Joints","publication_year":2018,"publication_date":"2018-06-07","ids":{"openalex":"https://openalex.org/W2806266954","doi":"https://doi.org/10.1142/s0219843618500160","mag":"2806266954"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843618500160","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843618500160","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid 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/A5006956791","display_name":"Li Jiang","orcid":"https://orcid.org/0000-0003-1740-5525"},"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"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Li Jiang","raw_affiliation_strings":["The State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048861820","display_name":"Bingqian Sun","orcid":null},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bingqian Sun","raw_affiliation_strings":["The State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013952168","display_name":"Haiwei Gu","orcid":"https://orcid.org/0000-0002-7598-5022"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haiwei Gu","raw_affiliation_strings":["The State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5006956791"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.1839,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.47483336,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":"15","issue":"04","first_page":"1850016","last_page":"1850016"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994000196456909,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994000196456909,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9969000220298767,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9901000261306763,"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/inverse-kinematics","display_name":"Inverse kinematics","score":0.7501468658447266},{"id":"https://openalex.org/keywords/power-series","display_name":"Power series","score":0.6788284182548523},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6550701260566711},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5876032114028931},{"id":"https://openalex.org/keywords/trigonometric-functions","display_name":"Trigonometric functions","score":0.5869672894477844},{"id":"https://openalex.org/keywords/quartic-function","display_name":"Quartic function","score":0.5616024732589722},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5434205532073975},{"id":"https://openalex.org/keywords/transcendental-function","display_name":"Transcendental function","score":0.5360954403877258},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.5186552405357361},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4603841304779053},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.4122884273529053},{"id":"https://openalex.org/keywords/taylor-series","display_name":"Taylor series","score":0.4113459289073944},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3937166631221771},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.38983801007270813},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3440757393836975},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3213050365447998},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.2539161145687103},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19343945384025574},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10789492726325989},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07439848780632019}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7501468658447266},{"id":"https://openalex.org/C73905626","wikidata":"https://www.wikidata.org/wiki/Q206925","display_name":"Power series","level":2,"score":0.6788284182548523},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6550701260566711},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5876032114028931},{"id":"https://openalex.org/C178009071","wikidata":"https://www.wikidata.org/wiki/Q93344","display_name":"Trigonometric functions","level":2,"score":0.5869672894477844},{"id":"https://openalex.org/C130432447","wikidata":"https://www.wikidata.org/wiki/Q11420049","display_name":"Quartic function","level":2,"score":0.5616024732589722},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5434205532073975},{"id":"https://openalex.org/C43321923","wikidata":"https://www.wikidata.org/wiki/Q864333","display_name":"Transcendental function","level":2,"score":0.5360954403877258},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.5186552405357361},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4603841304779053},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.4122884273529053},{"id":"https://openalex.org/C158946198","wikidata":"https://www.wikidata.org/wiki/Q131187","display_name":"Taylor series","level":2,"score":0.4113459289073944},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3937166631221771},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.38983801007270813},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3440757393836975},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3213050365447998},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.2539161145687103},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19343945384025574},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10789492726325989},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07439848780632019},{"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843618500160","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843618500160","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1999165127","https://openalex.org/W2008796702","https://openalex.org/W2009391388","https://openalex.org/W2020573549","https://openalex.org/W2028145273","https://openalex.org/W2037123812","https://openalex.org/W2044429593","https://openalex.org/W2056652013","https://openalex.org/W2061313271","https://openalex.org/W2070151395","https://openalex.org/W2072288830","https://openalex.org/W2104236036","https://openalex.org/W2104367785","https://openalex.org/W2139208043","https://openalex.org/W2144333659","https://openalex.org/W2148127540","https://openalex.org/W2155840082"],"related_works":["https://openalex.org/W2347988643","https://openalex.org/W1971821535","https://openalex.org/W2353085265","https://openalex.org/W2811382984","https://openalex.org/W2119719871","https://openalex.org/W2375200650","https://openalex.org/W2366276599","https://openalex.org/W4386631294","https://openalex.org/W2357499095","https://openalex.org/W3126987580"],"abstract_inverted_index":{"Inverse-kinematics":[0],"is":[1,36,56],"an":[2,50],"emphasis":[3],"and":[4,9,97,125],"difficulty":[5],"in":[6],"the":[7,12,40,72,88,104,114,131],"design":[8],"application":[10],"of":[11,20,61,130],"humanoid":[13],"robot":[14,83,109],"hand":[15],"with":[16,65,75,84,110],"coupled":[17,86,112],"joints":[18],"because":[19],"nonlinearity":[21],"induced":[22],"by":[23,38,59],"trigonometric":[24,44],"transcendental":[25,41],"function.":[26],"In":[27],"this":[28],"paper,":[29],"a":[30],"power":[31,62,92],"series":[32,63,93],"based":[33,90],"inverse-kinematics":[34],"algorithm":[35],"presented,":[37],"which":[39],"equation":[42],"including":[43],"function":[45],"can":[46,78],"be":[47,80],"converted":[48],"into":[49],"algebraic":[51],"equation.":[52],"An":[53],"approximate":[54],"solution":[55,74],"derived":[57],"first":[58],"means":[60],"expansions;":[64],"1D":[66],"linear":[67],"interpolation":[68],"for":[69],"errors":[70],"compensating,":[71],"final":[73],"small":[76],"error":[77],"then":[79],"achieved.":[81],"For":[82,108],"linearly":[85],"joints,":[87,113],"algorithms":[89],"on":[91],"expanded":[94],"to":[95,102,119],"quadratic":[96],"quartic":[98],"terms":[99],"are":[100,117],"used":[101],"calculate":[103],"accurate":[105],"joint":[106],"angles.":[107],"nonlinearly":[111],"specific":[115],"procedures":[116],"proposed":[118,132],"select":[120],"appropriate":[121],"transmission":[122],"ratio.":[123],"Simulation":[124],"experimental":[126],"results":[127],"demonstrate":[128],"effectiveness":[129],"inverse":[133],"kinematics":[134],"method.":[135]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}