{"id":"https://openalex.org/W2068652476","doi":"https://doi.org/10.1163/156855300741500","title":"Two-stage adaptive robot position/force control using fuzzy reasoning and neural networks","display_name":"Two-stage adaptive robot position/force control using fuzzy reasoning and neural networks","publication_year":2000,"publication_date":"2000-01-01","ids":{"openalex":"https://openalex.org/W2068652476","doi":"https://doi.org/10.1163/156855300741500","mag":"2068652476"},"language":"en","primary_location":{"id":"doi:10.1163/156855300741500","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855300741500","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced 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/A5058003031","display_name":"Kazuo Kiguchi","orcid":"https://orcid.org/0000-0003-4408-0420"},"institutions":[{"id":"https://openalex.org/I177136067","display_name":"Saga University","ror":"https://ror.org/04f4wg107","country_code":"JP","type":"education","lineage":["https://openalex.org/I177136067"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuo Kiguchi","raw_affiliation_strings":["Saga University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Saga University","institution_ids":["https://openalex.org/I177136067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111518950","display_name":"Keigo Watanabe","orcid":null},"institutions":[{"id":"https://openalex.org/I177136067","display_name":"Saga University","ror":"https://ror.org/04f4wg107","country_code":"JP","type":"education","lineage":["https://openalex.org/I177136067"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keigo Watanabe","raw_affiliation_strings":["Saga University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Saga University","institution_ids":["https://openalex.org/I177136067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101111525","display_name":"Kiyotaka Izumi","orcid":null},"institutions":[{"id":"https://openalex.org/I177136067","display_name":"Saga University","ror":"https://ror.org/04f4wg107","country_code":"JP","type":"education","lineage":["https://openalex.org/I177136067"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kiyotaka Izumi","raw_affiliation_strings":["Saga University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Saga University","institution_ids":["https://openalex.org/I177136067"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065569192","display_name":"Toshio Fukuda","orcid":"https://orcid.org/0000-0002-3885-7152"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshio Fukuda","raw_affiliation_strings":["#N##TAB##TAB##TAB##TAB# Nagoya University#N##TAB##TAB##TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"#N##TAB##TAB##TAB##TAB# Nagoya University#N##TAB##TAB##TAB#","institution_ids":["https://openalex.org/I60134161"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0134,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.82283602,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"14","issue":"3","first_page":"153","last_page":"168"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.994700014591217,"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/T10820","display_name":"Fuzzy Logic and Control Systems","score":0.994700014591217,"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/robot","display_name":"Robot","score":0.6339674592018127},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6219592094421387},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5398074984550476},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5295185446739197},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.528253436088562},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5273110270500183},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4781675934791565},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.4759238064289093},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.4610189199447632},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.45915618538856506},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4537993371486664},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.4225753843784332},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.41276082396507263},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34234732389450073},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31384822726249695},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22007745504379272}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6339674592018127},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6219592094421387},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5398074984550476},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5295185446739197},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.528253436088562},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5273110270500183},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4781675934791565},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.4759238064289093},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.4610189199447632},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.45915618538856506},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4537993371486664},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4225753843784332},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.41276082396507263},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34234732389450073},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31384822726249695},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22007745504379272},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855300741500","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855300741500","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1929085322","https://openalex.org/W1978646917","https://openalex.org/W1984997259","https://openalex.org/W2016958754","https://openalex.org/W2039992963","https://openalex.org/W2062014711","https://openalex.org/W2073898625","https://openalex.org/W2081003338","https://openalex.org/W2091881639","https://openalex.org/W2120135473","https://openalex.org/W2130812158","https://openalex.org/W2132294818","https://openalex.org/W2145378030","https://openalex.org/W2147410438","https://openalex.org/W2148091283","https://openalex.org/W2148183471","https://openalex.org/W2158796185","https://openalex.org/W2160915159","https://openalex.org/W2166271005","https://openalex.org/W2585624439","https://openalex.org/W2766736793","https://openalex.org/W4243419932","https://openalex.org/W4300402905"],"related_works":["https://openalex.org/W2379084545","https://openalex.org/W1991810297","https://openalex.org/W1819950161","https://openalex.org/W2032253950","https://openalex.org/W2101148463","https://openalex.org/W2115512691","https://openalex.org/W2162992672","https://openalex.org/W2792368061","https://openalex.org/W2100910774","https://openalex.org/W2140015139"],"abstract_inverted_index":{"Many":[0],"studies":[1],"have":[2,98],"been":[3,99],"performed":[4],"on":[5],"the":[6,13,27,30,40,45,49,52,71,105,110,148,152,158,162,170,180],"position/force":[7,143],"control":[8,41,68,83,106,144,182],"of":[9,54,57,84,107,115,151,179],"robot":[10,59,85,131,141],"manipulators.":[11,86],"Since":[12],"desired":[14],"position":[15],"and":[16,38,95,118,123,161],"force":[17,42],"required":[18],"to":[19,35,80],"realize":[20,81],"certain":[21],"tasks":[22],"are":[23],"usually":[24],"designated":[25],"in":[26,44,78,104,146,157,169],"operational":[28,46],"space,":[29],"controller":[31],"should":[32,73],"adapt":[33],"itself":[34],"an":[36,101],"environment":[37,153],"generate":[39],"vector":[43],"space.":[47],"On":[48],"other":[50],"hand,":[51],"friction":[53,72,164],"each":[55],"joint":[56,163,171],"a":[58,62,130,138],"manipulator":[60,142],"is":[61,154,165],"serious":[63],"problem":[64],"since":[65],"it":[66],"impedes":[67],"accuracy.":[69],"Therefore,":[70],"be":[74,127],"effectively":[75,166],"compensated":[76,155,167],"for":[77,156,168],"order":[79],"precise":[82],"Recently,":[87],"soft":[88,174],"computing":[89,175],"techniques":[90],"(fuzzy":[91],"reasoning,":[92],"neural":[93,119],"networks":[94],"genetic":[96],"algorithms)":[97],"playing":[100],"important":[102],"role":[103],"robots.":[108],"Applying":[109],"fuzzy-neuro":[111],"approach":[112],"(a":[113],"combination":[114],"fuzzy":[116],"reasoning":[117],"networks),":[120],"learning/adaptation":[121],"ability":[122],"human":[124],"knowledge":[125],"can":[126],"incorporated":[128],"into":[129],"controller.":[132],"In":[133],"this":[134],"paper,":[135],"we":[136],"propose":[137],"two-stage":[139],"adaptive":[140],"method":[145,183],"which":[147],"uncertain/unknown":[149],"dynamic":[150],"task":[159],"space":[160,172],"using":[173],"techniques.":[176],"The":[177],"effectiveness":[178],"proposed":[181],"was":[184],"evaluated":[185],"by":[186],"experiments.":[187]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}