{"id":"https://openalex.org/W4401213450","doi":"https://doi.org/10.1007/s10846-024-02135-x","title":"A Novel Recursive Algorithm for the Implementation of Adaptive Robot Controllers","display_name":"A Novel Recursive Algorithm for the Implementation of Adaptive Robot Controllers","publication_year":2024,"publication_date":"2024-08-01","ids":{"openalex":"https://openalex.org/W4401213450","doi":"https://doi.org/10.1007/s10846-024-02135-x"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-024-02135-x","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-024-02135-x","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-024-02135-x.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10846-024-02135-x.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027917256","display_name":"Mertcan Kaya","orcid":"https://orcid.org/0000-0002-3174-9394"},"institutions":[{"id":"https://openalex.org/I157413458","display_name":"Coburg University of Applied Sciences","ror":"https://ror.org/02p5hsv84","country_code":"DE","type":"education","lineage":["https://openalex.org/I157413458"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Mertcan Kaya","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Coburg University of Applied Sciences and Arts, Coburg, Germany","Department of Electrical Engineering and Computer Science, Coburg University of Applied Sciences and Arts, Coburg, 96450, Germany"],"raw_orcid":"https://orcid.org/0000-0002-3174-9394","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Coburg University of Applied Sciences and Arts, Coburg, Germany","institution_ids":["https://openalex.org/I157413458"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Coburg University of Applied Sciences and Arts, Coburg, 96450, Germany","institution_ids":["https://openalex.org/I157413458"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069682188","display_name":"Mehmet Ali Akbulut","orcid":"https://orcid.org/0000-0001-7199-8515"},"institutions":[{"id":"https://openalex.org/I48912391","display_name":"Istanbul Technical University","ror":"https://ror.org/059636586","country_code":"TR","type":"education","lineage":["https://openalex.org/I48912391"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"Mehmet Ali Akbulut","raw_affiliation_strings":["Department of Mechanical Engineering, Istanbul Technical University, Istanbul, Turkey","Department of Mechanical Engineering, Istanbul Technical University, Istanbul, 34437, Turkey"],"raw_orcid":"https://orcid.org/0000-0001-7199-8515","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Istanbul Technical University, Istanbul, Turkey","institution_ids":["https://openalex.org/I48912391"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Istanbul Technical University, Istanbul, 34437, Turkey","institution_ids":["https://openalex.org/I48912391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076994342","display_name":"Zeki Y. Bayraktaroglu","orcid":"https://orcid.org/0000-0001-5539-9504"},"institutions":[{"id":"https://openalex.org/I48912391","display_name":"Istanbul Technical University","ror":"https://ror.org/059636586","country_code":"TR","type":"education","lineage":["https://openalex.org/I48912391"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"Zeki Yagiz Bayraktaroglu","raw_affiliation_strings":["Department of Mechanical Engineering, Istanbul Technical University, Istanbul, Turkey","Department of Mechanical Engineering, Istanbul Technical University, Istanbul, 34437, Turkey"],"raw_orcid":"https://orcid.org/0000-0001-5539-9504","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Istanbul Technical University, Istanbul, Turkey","institution_ids":["https://openalex.org/I48912391"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Istanbul Technical University, Istanbul, 34437, Turkey","institution_ids":["https://openalex.org/I48912391"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056732510","display_name":"Kolja K\u00fchnlenz","orcid":"https://orcid.org/0000-0003-1511-9381"},"institutions":[{"id":"https://openalex.org/I157413458","display_name":"Coburg University of Applied Sciences","ror":"https://ror.org/02p5hsv84","country_code":"DE","type":"education","lineage":["https://openalex.org/I157413458"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Kolja K\u00fchnlenz","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Coburg University of Applied Sciences and Arts, Coburg, Germany","Department of Electrical Engineering and Computer Science, Coburg University of Applied Sciences and Arts, Coburg, 96450, Germany"],"raw_orcid":"https://orcid.org/0000-0003-1511-9381","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Coburg University of Applied Sciences and Arts, Coburg, Germany","institution_ids":["https://openalex.org/I157413458"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Coburg University of Applied Sciences and Arts, Coburg, 96450, Germany","institution_ids":["https://openalex.org/I157413458"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5027917256","https://openalex.org/A5056732510","https://openalex.org/A5069682188","https://openalex.org/A5076994342"],"corresponding_institution_ids":["https://openalex.org/I157413458","https://openalex.org/I48912391"],"apc_list":{"value":3090,"currency":"USD","value_usd":3090},"apc_paid":{"value":3090,"currency":"USD","value_usd":3090},"fwci":0.1552,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.42549292,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"110","issue":"3","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9990000128746033,"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":0.9986000061035156,"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/computer-science","display_name":"Computer science","score":0.6437615752220154},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4548795819282532},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.41511809825897217},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3777773678302765},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3408285677433014},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33103740215301514},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12793797254562378},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09459766745567322}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6437615752220154},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4548795819282532},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.41511809825897217},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3777773678302765},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3408285677433014},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33103740215301514},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12793797254562378},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09459766745567322}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-024-02135-x","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-024-02135-x","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-024-02135-x.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s10846-024-02135-x","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-024-02135-x","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-024-02135-x.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401213450.pdf","grobid_xml":"https://content.openalex.org/works/W4401213450.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1496777766","https://openalex.org/W1560270123","https://openalex.org/W1573732726","https://openalex.org/W1843302084","https://openalex.org/W1918105433","https://openalex.org/W1946771514","https://openalex.org/W1966552874","https://openalex.org/W1967842031","https://openalex.org/W1987306792","https://openalex.org/W2001524797","https://openalex.org/W2001536451","https://openalex.org/W2013265661","https://openalex.org/W2025467394","https://openalex.org/W2033073847","https://openalex.org/W2083483041","https://openalex.org/W2104417484","https://openalex.org/W2113265921","https://openalex.org/W2120512179","https://openalex.org/W2120633566","https://openalex.org/W2138046037","https://openalex.org/W2139346587","https://openalex.org/W2147293903","https://openalex.org/W2154174243","https://openalex.org/W2162046045","https://openalex.org/W2164785156","https://openalex.org/W2170013200","https://openalex.org/W2666033642","https://openalex.org/W2700693978","https://openalex.org/W2787504052","https://openalex.org/W3028165787","https://openalex.org/W3030394893","https://openalex.org/W4206242592","https://openalex.org/W4317761529","https://openalex.org/W4322706744"],"related_works":["https://openalex.org/W2051487156","https://openalex.org/W2073681303","https://openalex.org/W2053286651","https://openalex.org/W2181743346","https://openalex.org/W2187401768","https://openalex.org/W2181413294","https://openalex.org/W1982160337","https://openalex.org/W2989452537","https://openalex.org/W1971380437","https://openalex.org/W2052122378"],"abstract_inverted_index":{"In":[0,147],"this":[1],"paper,":[2],"a":[3,58,77,88],"novel":[4],"recursive":[5,62],"and":[6,15,60,97,108],"efficient":[7],"algorithm":[8],"for":[9,93],"real-time":[10,116],"implementation":[11,142],"of":[12,21,27,37,81,115,133,143,153,162,170],"the":[13,28,35,38,48,66,82,95,123,130,134,141,150,163],"adaptive":[14,144,164],"passivity-based":[16],"controllers":[17,165],"in":[18,51,87,113,140],"model-based":[19],"control":[20,135,145,172],"robot":[22,156],"manipulators":[23],"is":[24,74],"proposed.":[25],"Many":[26],"previous":[29],"methods":[30,102,173],"on":[31,76,105],"these":[32],"topics":[33],"involve":[34],"computation":[36,131],"regressor":[39,67],"matrix":[40,68],"explicitly":[41],"or":[42,69],"non-recursive":[43],"computations,":[44],"which":[45],"remains":[46],"as":[47],"main":[49],"challenge":[50],"practical":[52],"applications.":[53],"The":[54,100],"proposed":[55,84,124],"method":[56],"achieves":[57],"compact":[59],"fully":[61],"reformulation":[63],"without":[64],"computing":[65],"its":[70],"elements.":[71],"This":[72],"paper":[73],"based":[75],"comprehensive":[78],"literature":[79],"review":[80],"previously":[83],"methods,":[85],"presented":[86],"unified":[89],"mathematical":[90],"framework":[91],"suitable":[92],"understanding":[94],"fundamentals":[96],"making":[98],"comparisons.":[99],"considered":[101],"are":[103,111,166,177],"implemented":[104],"several":[106],"processors":[107],"their":[109],"performances":[110,161],"compared":[112,167],"terms":[114],"computational":[117],"efficiency.":[118],"Computational":[119],"results":[120],"show":[121],"that":[122],"Adaptive":[125],"Newton-Euler":[126],"Algorithm":[127],"significantly":[128],"reduces":[129],"time":[132,139],"law":[136],"per":[137],"cycle":[138],"laws.":[146],"addition,":[148],"using":[149],"dynamic":[151,175],"simulation":[152],"an":[154],"industrial":[155],"with":[157,168],"6-DoF,":[158],"trajectory":[159],"tracking":[160],"those":[169],"non-adaptive":[171],"where":[174],"parameters":[176],"assumed":[178],"to":[179],"be":[180],"known.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}
