{"id":"https://openalex.org/W2060931495","doi":"https://doi.org/10.1163/156855304322753290","title":"Self-reconfigurable planar parallel robot in the horizontal plane","display_name":"Self-reconfigurable planar parallel robot in the horizontal plane","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2060931495","doi":"https://doi.org/10.1163/156855304322753290","mag":"2060931495"},"language":"en","primary_location":{"id":"doi:10.1163/156855304322753290","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855304322753290","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":"middle","author":{"id":"https://openalex.org/A5003261552","display_name":"Toshiya Tsukiai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Toshiya Tsukiai","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":4,"corresponding_author_ids":["https://openalex.org/A5078028387"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7385,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.86444988,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"18","issue":"1","first_page":"45","last_page":"60"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.998199999332428,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9939000010490417,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.8887010812759399},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.846042275428772},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.7396926283836365},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6946502923965454},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6480244398117065},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5763906240463257},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.569453775882721},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.5541910529136658},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5459235906600952},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5323337316513062},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.4964335560798645},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36329102516174316},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3310990333557129},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2611950933933258},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2392696738243103},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.17199307680130005},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14916548132896423},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14754223823547363},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08737725019454956},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08220794796943665},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.07803422212600708}],"concepts":[{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.8887010812759399},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.846042275428772},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.7396926283836365},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6946502923965454},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6480244398117065},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5763906240463257},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.569453775882721},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.5541910529136658},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5459235906600952},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5323337316513062},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.4964335560798645},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36329102516174316},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3310990333557129},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2611950933933258},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2392696738243103},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.17199307680130005},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14916548132896423},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14754223823547363},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08737725019454956},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08220794796943665},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.07803422212600708},{"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:10.1163/156855304322753290","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855304322753290","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":11,"referenced_works":["https://openalex.org/W1890673840","https://openalex.org/W1960096875","https://openalex.org/W1975324676","https://openalex.org/W2118032271","https://openalex.org/W2151288708","https://openalex.org/W2291165962","https://openalex.org/W2333197141","https://openalex.org/W2341668857","https://openalex.org/W2345801544","https://openalex.org/W2581451455","https://openalex.org/W4256526535"],"related_works":["https://openalex.org/W2362652060","https://openalex.org/W2357403317","https://openalex.org/W2066019639","https://openalex.org/W2394251694","https://openalex.org/W2090392331","https://openalex.org/W2026756596","https://openalex.org/W1917399524","https://openalex.org/W2009316821","https://openalex.org/W3122438115","https://openalex.org/W2635001913"],"abstract_inverted_index":{"This":[0,80],"paper":[1,81],"proposes":[2],"a":[3,36,117],"self-reconfigurable":[4,138],"planar":[5,18,139],"parallel":[6,19,140],"robot":[7,26,147],"which":[8,153],"is":[9,154],"capable":[10],"of":[11,17,35,77,87,116,125],"reconfiguring":[12],"itself":[13],"to":[14,99,112,121,156,159,163,169,172],"various":[15],"types":[16],"robots":[20],"in":[21],"the":[22,88,114,136],"horizontal":[23],"plane.":[24],"The":[25,51],"can":[27],"change":[28,173],"its":[29,150],"workspaces":[30],"by":[31],"coupling":[32,76,92,131,151],"and":[33,38,56,84,93,120,132,148,161],"decoupling":[34,97,124,133],"platform":[37,52],"two":[39,78],"or":[40],"more":[41,104],"2R":[42],"open":[43],"kinematic":[44],"chains":[45],"with":[46,103],"second":[47],"joints":[48],"unactuated":[49],"(limb).":[50],"should":[53],"be":[54,100,110,157],"light":[55],"therefore":[57],"no":[58],"additional":[59],"actuators":[60],"are":[61,73,166],"used":[62],"for":[63,75,91,135],"reconfigurations.":[64],"We":[65,128,142],"have":[66],"already":[67],"shown":[68],"that":[69],"uncertainty":[70,89],"singular":[71],"configurations":[72,134],"appropriate":[74],"limbs.":[79,127],"describes":[82],"positive":[83],"negative":[85],"aspects":[86],"singularity":[90],"decoupling.":[94],"In":[95],"addtion,":[96],"needs":[98],"carried":[101,167],"out":[102,168],"care":[105],"than":[106],"coupling.":[107],"It":[108],"must":[109],"considered":[111],"assure":[113],"safety":[115],"decoupled":[118],"limb":[119],"prevent":[122],"unexpected":[123],"other":[126],"propose":[129],"feasible":[130],"proposed":[137],"robot.":[141],"also":[143],"introduce":[144],"our":[145],"real":[146],"show":[149],"mechanism,":[152],"designed":[155],"easy":[158],"couple":[160],"hard":[162],"decouple.":[164],"Experiments":[165],"verify":[170],"reconfigurations":[171],"workspaces.":[174]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
