{"id":"https://openalex.org/W1974479813","doi":"https://doi.org/10.1163/1568553041257440","title":"Dynamic and stable reconfiguration of self-reconfigurable planar parallel robots","display_name":"Dynamic and stable reconfiguration of self-reconfigurable planar parallel robots","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W1974479813","doi":"https://doi.org/10.1163/1568553041257440","mag":"1974479813"},"language":"en","primary_location":{"id":"doi:10.1163/1568553041257440","is_oa":false,"landing_page_url":"https://doi.org/10.1163/1568553041257440","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/A5078028387","display_name":"Jin-Kyu Choi","orcid":"https://orcid.org/0000-0003-3730-5900"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Jin-Kyu Choi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012777617","display_name":"Osamu Mori","orcid":"https://orcid.org/0000-0001-9441-3356"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Osamu Mori","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5102844026","display_name":"Toru Omata","orcid":"https://orcid.org/0000-0003-3577-7672"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Toru Omata","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5078028387"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8692,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.79253048,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"18","issue":"6","first_page":"565","last_page":"582"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9976000189781189,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9969000220298767,"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/underactuation","display_name":"Underactuation","score":0.7525087594985962},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.7410094738006592},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.697411298751831},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6934666633605957},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.6623263359069824},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6441332697868347},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6370289921760559},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5654412508010864},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5422847867012024},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.47098466753959656},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.45675525069236755},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.45111656188964844},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4288105070590973},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4175402820110321},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38098472356796265},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2585102319717407},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20042747259140015},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18738389015197754},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1532350778579712},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12627825140953064},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10352802276611328},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.0977836549282074}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7525087594985962},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.7410094738006592},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.697411298751831},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6934666633605957},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.6623263359069824},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6441332697868347},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6370289921760559},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5654412508010864},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5422847867012024},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.47098466753959656},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.45675525069236755},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.45111656188964844},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4288105070590973},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4175402820110321},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38098472356796265},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2585102319717407},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20042747259140015},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18738389015197754},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1532350778579712},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12627825140953064},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10352802276611328},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0977836549282074},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/1568553041257440","is_oa":false,"landing_page_url":"https://doi.org/10.1163/1568553041257440","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":[{"id":"https://openalex.org/F4320321325","display_name":"Korea Maritime and Ocean University","ror":"https://ror.org/01v7y5b55"},{"id":"https://openalex.org/F4320321373","display_name":"Korea University","ror":"https://ror.org/047dqcg40"},{"id":"https://openalex.org/F4320322349","display_name":"Ministry of Education, Science and Technology","ror":"https://ror.org/01p262204"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1890673840","https://openalex.org/W1960096875","https://openalex.org/W2060931495","https://openalex.org/W2118032271","https://openalex.org/W2120022451","https://openalex.org/W2151288708","https://openalex.org/W2291165962","https://openalex.org/W2333197141","https://openalex.org/W2341668857","https://openalex.org/W2345801544","https://openalex.org/W4256526535"],"related_works":["https://openalex.org/W2357657342","https://openalex.org/W587013945","https://openalex.org/W2153432761","https://openalex.org/W1580144672","https://openalex.org/W2152623100","https://openalex.org/W2142042635","https://openalex.org/W4214878056","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4248634784"],"abstract_inverted_index":{"This":[0,115],"paper":[1,116],"discusses":[2],"dynamic":[3,94,119,156],"and":[4,18,58,65,73,127,160],"stable":[5,133],"reconfigurations":[6],"of":[7,20,30,46,70,154],"self-reconfigurable":[8,47],"planar":[9],"parallel":[10,32,48],"robots":[11,23,33,49,146],"that":[12,129],"can":[13],"be":[14],"done":[15],"by":[16,55,62],"coupling":[17,87],"decoupling":[19],"two":[21,56,71],"underactuated":[22,67],"on":[24],"a":[25,63,74],"horizontal":[26],"plane.":[27],"The":[28],"limbs":[29,72],"the":[31,59,152,155],"are":[34,50,139,147],"2R":[35],"open":[36],"kinematic":[37],"chains":[38],"with":[39,144],"their":[40,86,113,122],"second":[41],"joints":[42],"unactuated.":[43],"Two":[44],"types":[45],"considered.":[51],"One":[52],"is":[53,61],"formed":[54],"limbs,":[57],"other":[60],"limb":[64],"an":[66,102,107],"robot":[68],"consisting":[69],"platform.":[75],"Uncertainty":[76],"singularities":[77,124],"enable":[78],"them":[79,100],"to":[80,98,106,150],"self-reconfigure":[81],"without":[82,135],"additional":[83],"actuators":[84],"at":[85,121],"mechanism.":[88],"In":[89],"this":[90],"paper,":[91],"we":[92],"propose":[93],"contact":[95,104,157],"motion":[96,158],"control":[97,159],"move":[99],"from":[101],"initial":[103],"configuration":[105,110],"uncertainty":[108,123],"singular":[109],"while":[111],"maintaining":[112],"contact.":[114],"also":[117],"considers":[118],"stability":[120,161],"as":[125],"equilibrium":[126],"shows":[128],"there":[130],"exist":[131],"geometrically":[132],"configurations":[134],"feedback":[136],"control,":[137],"which":[138],"useful":[140],"for":[141],"decoupling.":[142],"Experiments":[143],"real":[145],"carried":[148],"out":[149],"verify":[151],"effectiveness":[153],"analysis.":[162]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
