{"id":"https://openalex.org/W2062540479","doi":"https://doi.org/10.1177/027836499801701204","title":"Frequency-Domain Consequences of Low-Velocity Friction: The Nonminimum-Phase Behavior of Geared Transmissions","display_name":"Frequency-Domain Consequences of Low-Velocity Friction: The Nonminimum-Phase Behavior of Geared Transmissions","publication_year":1998,"publication_date":"1998-12-01","ids":{"openalex":"https://openalex.org/W2062540479","doi":"https://doi.org/10.1177/027836499801701204","mag":"2062540479"},"language":"en","primary_location":{"id":"doi:10.1177/027836499801701204","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499801701204","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5022972472","display_name":"J. Ontanon-Ruiz","orcid":null},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"J. Ontanon-Ruiz","raw_affiliation_strings":["Robotics Research Group Department of Engineering Science University of Oxford Oxford, OX1 3PJ, UK","Robotics Research Group, Department of Engineering Science, University of Oxford, Oxford OX1 3PJ, UK#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Group Department of Engineering Science University of Oxford Oxford, OX1 3PJ, UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Robotics Research Group, Department of Engineering Science, University of Oxford, Oxford OX1 3PJ, UK#TAB#","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019369861","display_name":"P. R. Mc\u0102ree","orcid":"https://orcid.org/0000-0001-9259-0615"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"P.R. McAree","raw_affiliation_strings":["Robotics Research Group Department of Engineering Science University of Oxford Oxford, OX1 3PJ, UK","Robotics Research Group, Department of Engineering Science, University of Oxford, Oxford OX1 3PJ, UK#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Group Department of Engineering Science University of Oxford Oxford, OX1 3PJ, UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Robotics Research Group, Department of Engineering Science, University of Oxford, Oxford OX1 3PJ, UK#TAB#","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030993413","display_name":"R.W. Daniel","orcid":"https://orcid.org/0000-0002-8666-0979"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"R.W. Daniel","raw_affiliation_strings":["Robotics Research Group Department of Engineering Science University of Oxford Oxford, OX1 3PJ, UK","Robotics Research Group, Department of Engineering Science, University of Oxford, Oxford OX1 3PJ, UK#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Group Department of Engineering Science University of Oxford Oxford, OX1 3PJ, UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Robotics Research Group, Department of Engineering Science, University of Oxford, Oxford OX1 3PJ, UK#TAB#","institution_ids":["https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I40120149"],"apc_list":null,"apc_paid":null,"fwci":2.0547,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.8553384,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"17","issue":"12","first_page":"1310","last_page":"1324"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11062","display_name":"Gear and Bearing Dynamics Analysis","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11062","display_name":"Gear and Bearing Dynamics Analysis","score":0.9998999834060669,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9927999973297119,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9926000237464905,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6836591958999634},{"id":"https://openalex.org/keywords/continuously-variable-transmission","display_name":"Continuously variable transmission","score":0.6424353122711182},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.6414870619773865},{"id":"https://openalex.org/keywords/frequency-domain","display_name":"Frequency domain","score":0.5567439198493958},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5411585569381714},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.5286964178085327},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4756995141506195},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.47482404112815857},{"id":"https://openalex.org/keywords/backlash","display_name":"Backlash","score":0.4422043263912201},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4320535659790039},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3464372158050537},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2771058678627014},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.23616597056388855},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2256161868572235},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.19873422384262085},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07970133423805237}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6836591958999634},{"id":"https://openalex.org/C193235527","wikidata":"https://www.wikidata.org/wiki/Q863787","display_name":"Continuously variable transmission","level":3,"score":0.6424353122711182},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.6414870619773865},{"id":"https://openalex.org/C19118579","wikidata":"https://www.wikidata.org/wiki/Q786423","display_name":"Frequency domain","level":2,"score":0.5567439198493958},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5411585569381714},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.5286964178085327},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4756995141506195},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.47482404112815857},{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.4422043263912201},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4320535659790039},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3464372158050537},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2771058678627014},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.23616597056388855},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2256161868572235},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.19873422384262085},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07970133423805237},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/027836499801701204","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499801701204","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:espace.library.uq.edu.au:UQ:307707","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402388","display_name":"Queensland's institutional digital repository (The University of Queensland)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I165143802","host_organization_name":"The University of Queensland","host_organization_lineage":["https://openalex.org/I165143802"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},{"id":"pmh:oai:ora.ox.ac.uk:uuid:4fcf8706-1c93-4953-a933-01d58740624b","is_oa":false,"landing_page_url":"https://ora.ox.ac.uk/objects/uuid:4fcf8706-1c93-4953-a933-01d58740624b","pdf_url":null,"source":{"id":"https://openalex.org/S4306402636","display_name":"Oxford University Research Archive (ORA) (University of Oxford)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40120149","host_organization_name":"University of Oxford","host_organization_lineage":["https://openalex.org/I40120149"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Symplectic Elements at Oxford","raw_type":"Journal article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.6200000047683716}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1600066860","https://openalex.org/W1667165204","https://openalex.org/W1672819356","https://openalex.org/W1982594606","https://openalex.org/W1987647363","https://openalex.org/W1997730203","https://openalex.org/W2005481502","https://openalex.org/W2007718361","https://openalex.org/W2012747357","https://openalex.org/W2018742520","https://openalex.org/W2073898625","https://openalex.org/W2077868323","https://openalex.org/W2078307390","https://openalex.org/W2084686105","https://openalex.org/W2084869663","https://openalex.org/W2085080587","https://openalex.org/W2091881639","https://openalex.org/W2093927800","https://openalex.org/W2107546765","https://openalex.org/W2139854103","https://openalex.org/W2158796185","https://openalex.org/W2160279521","https://openalex.org/W2847913831","https://openalex.org/W3016487507","https://openalex.org/W4233622498","https://openalex.org/W4234812462","https://openalex.org/W4243419932","https://openalex.org/W4250904644"],"related_works":["https://openalex.org/W2318553114","https://openalex.org/W45990023","https://openalex.org/W2369073421","https://openalex.org/W2066639517","https://openalex.org/W2967708117","https://openalex.org/W2242762566","https://openalex.org/W2370149162","https://openalex.org/W2953861963","https://openalex.org/W2358608738","https://openalex.org/W2243355507"],"abstract_inverted_index":{"We":[0,17,106],"make":[1],"several":[2],"experimentally":[3],"based":[4],"observations":[5],"that":[6,94],"enhance":[7],"the":[8,11,42,83,102,109],"understanding":[9],"of":[10,13,44,53,85,90,111],"dynamics":[12,43],"geared":[14],"robot":[15,115],"drives.":[16],"show":[18,74],"that:":[19],"(1)":[20],"at":[21,46],"low":[22],"velocities,":[23],"a":[24,30,64,86,91],"gear":[25,59,92],"transmission":[26,66,78,93],"can":[27],"behave":[28],"as":[29],"nonminimum-phase":[31],"system;":[32],"(2)":[33],"this":[34],"nonminimum":[35],"phase":[36],"behavior":[37],"is":[38],"intimately":[39],"related":[40],"to":[41],"friction":[45],"gear-tooth":[47],"contact;":[48],"and":[49,57,99],"(3)":[50],"by":[51],"virtue":[52],"compliance":[54],"in":[55,72,77],"bearings":[56],"supports,":[58],"drives":[60],"do":[61],"not":[62],"have":[63],"constant":[65],"ratio":[67],"over":[68],"all":[69],"frequencies,":[70],"but":[71],"stead":[73],"step":[75],"changes":[76],"ratio.":[79],"These":[80],"findings":[81,113],"guide":[82],"development":[84],"new":[87],"dynamic":[88],"model":[89],"captures":[95],"these":[96,112],"salient":[97],"characteristics":[98],"makes":[100],"explicit":[101],"different":[103],"torque-transmission":[104],"modes.":[105],"remark":[107],"on":[108],"implications":[110],"for":[114],"force":[116],"control.":[117]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}