{"id":"https://openalex.org/W1975163349","doi":"https://doi.org/10.1155/2013/256364","title":"A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm","display_name":"A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm","publication_year":2013,"publication_date":"2013-01-01","ids":{"openalex":"https://openalex.org/W1975163349","doi":"https://doi.org/10.1155/2013/256364","mag":"1975163349"},"language":"en","primary_location":{"id":"doi:10.1155/2013/256364","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2013/256364","pdf_url":"http://downloads.hindawi.com/journals/jr/2013/256364.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","datacite","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"http://downloads.hindawi.com/journals/jr/2013/256364.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047424201","display_name":"Giovanni Gerardo Muscolo","orcid":"https://orcid.org/0000-0002-3248-5888"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Giovanni Gerardo Muscolo","raw_affiliation_strings":["R&D Department, Creative Design Laboratory, Humanot s.r.l., via Modigliani 7-59100 Prato, Italy"],"affiliations":[{"raw_affiliation_string":"R&D Department, Creative Design Laboratory, Humanot s.r.l., via Modigliani 7-59100 Prato, Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007690546","display_name":"Kenji Hashimoto","orcid":"https://orcid.org/0000-0003-2300-6766"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Hashimoto","raw_affiliation_strings":["Department of Modern Mechanical Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075328170","display_name":"Atsuo Takanishi","orcid":"https://orcid.org/0009-0009-9388-9278"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsuo Takanishi","raw_affiliation_strings":["Department of Modern Mechanical Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan","Humanoid Robotics Institute, Waseda University, 2-2 Wakamatsu-cho, Shinjuku-ku, Tokyo 162-8480, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Humanoid Robotics Institute, Waseda University, 2-2 Wakamatsu-cho, Shinjuku-ku, Tokyo 162-8480, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076392384","display_name":"Paolo Dario","orcid":"https://orcid.org/0000-0001-9489-0056"},"institutions":[{"id":"https://openalex.org/I4210164099","display_name":"Piaggio Aerospace (Italy)","ror":"https://ror.org/05qfbhd78","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210164099"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Dario","raw_affiliation_strings":["The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Viale Rinaldo Piaggio 34, 56025 Pontedera, Italy"],"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Viale Rinaldo Piaggio 34, 56025 Pontedera, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I162290304","https://openalex.org/I4210164099"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5047424201"],"corresponding_institution_ids":[],"apc_list":{"value":900,"currency":"USD","value_usd":900},"apc_paid":{"value":900,"currency":"USD","value_usd":900},"fwci":1.6425,"has_fulltext":true,"cited_by_count":18,"citation_normalized_percentile":{"value":0.82455571,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"2013","issue":null,"first_page":"1","last_page":"14"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9919999837875366,"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/control-theory","display_name":"Control theory (sociology)","score":0.7600390911102295},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6242420673370361},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6204776763916016},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6060306429862976},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.5610475540161133},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.545210063457489},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5161022543907166},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5103845000267029},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4500305652618408},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38279014825820923},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3496370315551758},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3110801577568054},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2639422118663788},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1594162881374359},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12357369065284729},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.06253644824028015},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.05988311767578125}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7600390911102295},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6242420673370361},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6204776763916016},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6060306429862976},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5610475540161133},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.545210063457489},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5161022543907166},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5103845000267029},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4500305652618408},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38279014825820923},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3496370315551758},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3110801577568054},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2639422118663788},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1594162881374359},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12357369065284729},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.06253644824028015},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.05988311767578125},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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":5,"locations":[{"id":"doi:10.1155/2013/256364","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2013/256364","pdf_url":"http://downloads.hindawi.com/journals/jr/2013/256364.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:46d848fbf593489db1343756e9038c92","is_oa":true,"landing_page_url":"https://doaj.org/article/46d848fbf593489db1343756e9038c92","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Robotics, Vol 2013 (2013)","raw_type":"article"},{"id":"pmh:oai:www.iris.sssup.it:11382/373247","is_oa":false,"landing_page_url":"http://hdl.handle.net/11382/373247","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:zenodo.org:48256","is_oa":true,"landing_page_url":"https://www.openaccessrepository.it/record/48256","pdf_url":null,"source":{"id":"https://openalex.org/S4306402478","display_name":"INFM-OAR (INFN Catania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210116497","host_organization_name":"Istituto Nazionale di Fisica Nucleare, Sezione di Catania","host_organization_lineage":["https://openalex.org/I4210116497"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"doi:10.5281/zenodo.48256","is_oa":true,"landing_page_url":"https://doi.org/10.5281/zenodo.48256","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2013/256364","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2013/256364","pdf_url":"http://downloads.hindawi.com/journals/jr/2013/256364.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2507322060","display_name":null,"funder_award_id":"STREP","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6045009670","display_name":null,"funder_award_id":"248366","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320322638","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1975163349.pdf","grobid_xml":"https://content.openalex.org/works/W1975163349.grobid-xml"},"referenced_works_count":7,"referenced_works":["https://openalex.org/W1546578603","https://openalex.org/W1571779231","https://openalex.org/W2070122598","https://openalex.org/W2078014317","https://openalex.org/W2081504033","https://openalex.org/W2154874053","https://openalex.org/W2169706473"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2002388147","https://openalex.org/W3098928304","https://openalex.org/W2394883510","https://openalex.org/W2150958483","https://openalex.org/W2165013373","https://openalex.org/W2121097709","https://openalex.org/W2922503265","https://openalex.org/W2023324176","https://openalex.org/W4256317079"],"abstract_inverted_index":{"The":[0,19,35,67,118,149],"authors":[1],"propose":[2],"a":[3,76,96,131],"comparison":[4],"between":[5],"two":[6,20,40,73,119],"force-position":[7],"controllers":[8,21,120],"with":[9,71,95,112,130,140],"gravity":[10],"compensation":[11],"simulated":[12],"on":[13,75,156,164],"the":[14,32,39,62,72,80,90,93,104,107,115,143,157,165,171,174],"DEXTER":[15,158],"bioinspired":[16,84,160],"robotic":[17,159],"arm.":[18],"are":[22],"both":[23,101],"constituted":[24],"by":[25,88],"an":[26,45,56,82,138],"internal":[27],"proportional-derivative":[28],"(PD)":[29],"closed-loop":[30,49,60],"for":[31,50,61],"position":[33],"control.":[34],"force":[36,109],"control":[37,154,168],"of":[38,44,79,92,99,106,137,152,170,173],"systems":[41,74,102,155],"is":[42,146],"composed":[43],"external":[46,57],"proportional":[47],"(P)":[48],"one":[51],"system":[52,64,145],"(P":[53],"system)":[54],"and":[55,111,167],"proportional-integrative":[58],"(PI)":[59],"other":[63],"(PI":[65],"system).":[66],"simulation":[68],"tests":[69],"performed":[70],"planar":[77],"representation":[78],"DEXTER,":[81],"eight-DOF":[83],"arm,":[85],"showed":[86],"that":[87],"varying":[89],"stiffness":[91,133],"environment,":[94],"correct":[97],"setting":[98],"parameters,":[100],"ensure":[103],"achievement":[105],"desired":[108,116],"regime":[110],"great":[113],"precision":[114],"position.":[117],"do":[121],"not":[122],"have":[123],"large":[124],"differences":[125],"in":[126],"performance":[127],"when":[128],"interacting":[129],"lower":[132],"environment.":[134],"In":[135],"case":[136],"environment":[139],"greater":[141],"rigidity,":[142],"PI":[144],"more":[147],"stable.":[148],"subsequent":[150],"implementation":[151],"these":[153],"arm":[161],"gives":[162],"guidance":[163],"design":[166],"optimisation":[169],"arms":[172],"humanoid":[175],"robot":[176],"named":[177],"SABIAN.":[178]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":5}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}