{"id":"https://openalex.org/W2055334857","doi":"https://doi.org/10.1109/robio.2009.4913186","title":"Uncertainty of estimated parameters of contact conditions by active force sensing","display_name":"Uncertainty of estimated parameters of contact conditions by active force sensing","publication_year":2009,"publication_date":"2009-02-01","ids":{"openalex":"https://openalex.org/W2055334857","doi":"https://doi.org/10.1109/robio.2009.4913186","mag":"2055334857"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913186","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-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/A5101487444","display_name":"Takayoshi Yamada","orcid":"https://orcid.org/0000-0002-4012-4417"},"institutions":[{"id":"https://openalex.org/I197274945","display_name":"Nagoya Institute of Technology","ror":"https://ror.org/055yf1005","country_code":"JP","type":"education","lineage":["https://openalex.org/I197274945"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Yamada","raw_affiliation_strings":["School of Engineering, Nagoya Institute of Technology, Gokiso, Showa, Aichi 466-8555, Japan#TAB#"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Nagoya Institute of Technology, Gokiso, Showa, Aichi 466-8555, Japan#TAB#","institution_ids":["https://openalex.org/I197274945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034729259","display_name":"Tetsuya Mouri","orcid":null},"institutions":[{"id":"https://openalex.org/I42405503","display_name":"Gifu University","ror":"https://ror.org/024exxj48","country_code":"JP","type":"education","lineage":["https://openalex.org/I42405503"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Mouri","raw_affiliation_strings":["Department of Human and Information Systems, Gifu University, 1-1 Yanagido, 501-1193, Japan#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Human and Information Systems, Gifu University, 1-1 Yanagido, 501-1193, Japan#TAB#","institution_ids":["https://openalex.org/I42405503"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027249092","display_name":"Kyouhei SHIMOSAKA","orcid":null},"institutions":[{"id":"https://openalex.org/I197274945","display_name":"Nagoya Institute of Technology","ror":"https://ror.org/055yf1005","country_code":"JP","type":"education","lineage":["https://openalex.org/I197274945"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Shimosaka","raw_affiliation_strings":["School of Engineering, Nagoya Institute of Technology, Gokiso, Showa, Aichi 466-8555, Japan#TAB#"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Nagoya Institute of Technology, Gokiso, Showa, Aichi 466-8555, Japan#TAB#","institution_ids":["https://openalex.org/I197274945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103014262","display_name":"Nobuo Mimura","orcid":"https://orcid.org/0000-0002-7082-9194"},"institutions":[{"id":"https://openalex.org/I71395657","display_name":"Niigata University","ror":"https://ror.org/04ww21r56","country_code":"JP","type":"education","lineage":["https://openalex.org/I71395657"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"N. Mimura","raw_affiliation_strings":["Department of Biocybernetics, Niigata University, 2-8050 Ikarashi, Nishi-ku, 950-2181, Japan#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Biocybernetics, Niigata University, 2-8050 Ikarashi, Nishi-ku, 950-2181, Japan#TAB#","institution_ids":["https://openalex.org/I71395657"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035233952","display_name":"Y. Funahashi","orcid":"https://orcid.org/0000-0003-3609-0266"},"institutions":[{"id":"https://openalex.org/I98940699","display_name":"Chukyo University","ror":"https://ror.org/04ajrmg05","country_code":"JP","type":"education","lineage":["https://openalex.org/I98940699"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Funahashi","raw_affiliation_strings":["Department of System Engineering of Human Body, Chukyo University, 101 Tokodachi, Kaizu, Toyota, Aichi 470-0393, Japan"],"affiliations":[{"raw_affiliation_string":"Department of System Engineering of Human Body, Chukyo University, 101 Tokodachi, Kaizu, Toyota, Aichi 470-0393, Japan","institution_ids":["https://openalex.org/I98940699"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.364,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":3,"citation_normalized_percentile":{"value":0.79913,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":74,"max":77},"biblio":{"volume":null,"issue":null,"first_page":"1291","last_page":"1297"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9999,"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":0.9999,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9948,"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9935,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/contact-force","display_name":"Contact force","score":0.70592225},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.61073714},{"id":"https://openalex.org/keywords/contact-area","display_name":"Contact area","score":0.48709416},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.4421627}],"concepts":[{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.70592225},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.61073714},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.54103327},{"id":"https://openalex.org/C33373654","wikidata":"https://www.wikidata.org/wiki/Q5164821","display_name":"Contact area","level":2,"score":0.48709416},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.4421627},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.41962868},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39061975},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33981436},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.25162062},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23306224},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2061472},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17233503},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13691449},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07195032},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.070396364},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913186","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":18,"referenced_works":["https://openalex.org/W1658058115","https://openalex.org/W1682837476","https://openalex.org/W1975168730","https://openalex.org/W1996630649","https://openalex.org/W2072288830","https://openalex.org/W2097730752","https://openalex.org/W2100325993","https://openalex.org/W2105527660","https://openalex.org/W2123913082","https://openalex.org/W2126597475","https://openalex.org/W2128881279","https://openalex.org/W2140799192","https://openalex.org/W2143745423","https://openalex.org/W2148648901","https://openalex.org/W2154566144","https://openalex.org/W2167678014","https://openalex.org/W2168868109","https://openalex.org/W2325354248"],"related_works":["https://openalex.org/W4239098401","https://openalex.org/W2997524176","https://openalex.org/W2742341619","https://openalex.org/W2737719445","https://openalex.org/W2385118824","https://openalex.org/W2362165903","https://openalex.org/W2359476137","https://openalex.org/W2149308902","https://openalex.org/W2076123197","https://openalex.org/W1484706830"],"abstract_inverted_index":{"When":[0],"a":[1,55,122],"grasped":[2],"object":[3,44],"is":[4,12,51,80,101,115],"in":[5],"contact":[6,16,24,27,29,31,35,40,49,61,66,88,92,97,130],"with":[7,63],"an":[8,105],"external":[9],"environment,":[10],"it":[11],"required":[13],"to":[14,19,53],"identify":[15],"conditions":[17,25],"prior":[18],"performing":[20],"assembly":[21],"tasks.":[22],"The":[23,48,99,110],"include":[26],"position,":[28,89],"force,":[30],"type,":[32],"direction":[33,38,90,95],"of":[34,39,76,91,96,107,112],"normal,":[36,93],"and":[37,45,94],"line":[41],"between":[42],"the":[43,46,77,126,136],"environment.":[47],"type":[50,62],"assumed":[52],"be":[54,133],"point,":[56],"soft-finger,":[57],"line,":[58],"or":[59],"planar":[60],"friction.":[64],"These":[65],"parameters":[67,79],"are":[68],"identified":[69],"by":[70,103,117,135],"active":[71],"force":[72],"sensing.":[73],"Moreover,":[74],"uncertainty":[75,100],"estimated":[78],"derived.":[81],"This":[82],"paper":[83],"formulates":[84],"least-squares":[85],"functions":[86],"including":[87],"line.":[98],"derived":[102],"using":[104,118],"amount":[106],"each":[108],"function.":[109],"effectiveness":[111],"this":[113],"method":[114],"verified":[116],"numerical":[119],"examples.":[120],"As":[121],"result,":[123],"we":[124],"obtain":[125],"novel":[127],"knowledge":[128],"that":[129],"types":[131],"can":[132],"distinguished":[134],"uncertainty.":[137]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2055334857","counts_by_year":[],"updated_date":"2024-12-12T22:02:26.560956","created_date":"2016-06-24"}