{"id":"https://openalex.org/W2064346238","doi":"https://doi.org/10.1163/156855389x00181","title":"Control of robots having redundant degrees of freedom","display_name":"Control of robots having redundant degrees of freedom","publication_year":1988,"publication_date":"1988-01-01","ids":{"openalex":"https://openalex.org/W2064346238","doi":"https://doi.org/10.1163/156855389x00181","mag":"2064346238"},"language":"en","primary_location":{"id":"doi:10.1163/156855389x00181","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855389x00181","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","https://openalex.org/P4310320449"],"host_organization_lineage_names":["Taylor & Francis","Informa"],"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/A5102278010","display_name":"Tsuneo Yoshikawa","orcid":null},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Tsuneo Yoshikawa","raw_affiliation_strings":["Automation Research Laboratory, Kyoto University, Uji, Kyoto, 611, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation Research Laboratory, Kyoto University, Uji, Kyoto, 611, Japan","institution_ids":["https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5102278010"],"corresponding_institution_ids":["https://openalex.org/I22299242"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.23449877,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"3","issue":"1","first_page":"61","last_page":"73"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9994999766349792,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.8409251570701599},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.7673596143722534},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7454931735992432},{"id":"https://openalex.org/keywords/robotic-spacecraft","display_name":"Robotic spacecraft","score":0.7030946016311646},{"id":"https://openalex.org/keywords/craft","display_name":"Craft","score":0.575839102268219},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.49217644333839417},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44200393557548523},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3644046187400818},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3597928285598755},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33341482281684875},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29040274024009705},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08162397146224976}],"concepts":[{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.8409251570701599},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.7673596143722534},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7454931735992432},{"id":"https://openalex.org/C26355699","wikidata":"https://www.wikidata.org/wiki/Q1378139","display_name":"Robotic spacecraft","level":3,"score":0.7030946016311646},{"id":"https://openalex.org/C2779732396","wikidata":"https://www.wikidata.org/wiki/Q2207288","display_name":"Craft","level":2,"score":0.575839102268219},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.49217644333839417},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44200393557548523},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3644046187400818},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3597928285598755},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33341482281684875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29040274024009705},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08162397146224976},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855389x00181","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855389x00181","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","https://openalex.org/P4310320449"],"host_organization_lineage_names":["Taylor & Francis","Informa"],"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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1551416701","https://openalex.org/W1977384549","https://openalex.org/W2049410986","https://openalex.org/W2085545845","https://openalex.org/W2144230201","https://openalex.org/W2315973666","https://openalex.org/W2316008731","https://openalex.org/W2328217856","https://openalex.org/W2330198850","https://openalex.org/W3168095073"],"related_works":["https://openalex.org/W2064346238","https://openalex.org/W2007278736","https://openalex.org/W2081048698","https://openalex.org/W40553821","https://openalex.org/W2134222888","https://openalex.org/W2097774403","https://openalex.org/W2101018052","https://openalex.org/W2348134434","https://openalex.org/W2379725088","https://openalex.org/W3144635926"],"abstract_inverted_index":{"Demands":[0],"have":[1],"been":[2],"increasing":[3],"for":[4],"skillful":[5],"robots":[6,25],"in":[7],"many":[8],"fields":[9],"including":[10],"atomic":[11],"power":[12],"generation,":[13],"ocean":[14],"bottom":[15],"development,":[16],"space":[17],"craft,":[18],"hospital":[19],"aids,":[20],"and":[21,47],"so":[22],"on.":[23],"Such":[24],"will":[26],"essentially":[27],"require":[28],"high":[29],"degrees":[30,44],"of":[31,38,45,51,54],"freedom.":[32],"This":[33],"paper":[34],"discusses":[35],"the":[36],"advantages":[37],"a":[39,49],"robot":[40],"equipped":[41],"with":[42],"redundant":[43],"freedom":[46],"outlines":[48],"method":[50],"positive":[52],"use":[53],"such":[55],"redundancy.":[56]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-08-15T07:11:24.734988","created_date":"2025-10-10T00:00:00"}
