{"id":"https://openalex.org/W2547439543","doi":"https://doi.org/10.1017/s0263574715000338","title":"Registration of a hybrid robot using the Degradation-Kronecker method and a purely nonlinear method","display_name":"Registration of a hybrid robot using the Degradation-Kronecker method and a purely nonlinear method","publication_year":2015,"publication_date":"2015-05-28","ids":{"openalex":"https://openalex.org/W2547439543","doi":"https://doi.org/10.1017/s0263574715000338","mag":"2547439543"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574715000338","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574715000338","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5100381753","display_name":"Shuicheng Yan","orcid":"https://orcid.org/0000-0001-8906-3777"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"S. J. Yan","raw_affiliation_strings":["Mechanical Engineering Department, National University of Singapore, 9 Engineering Drive 1, Singapore117576"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, National University of Singapore, 9 Engineering Drive 1, Singapore117576","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061597777","display_name":"S. K. Ong","orcid":"https://orcid.org/0000-0002-9569-3350"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"S. K. Ong","raw_affiliation_strings":["Mechanical Engineering Department, National University of Singapore, 9 Engineering Drive 1, Singapore117576"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, National University of Singapore, 9 Engineering Drive 1, Singapore117576","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083539480","display_name":"A.Y.C. Nee","orcid":"https://orcid.org/0000-0002-1029-9988"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"A. Y. C. Nee","raw_affiliation_strings":["Mechanical Engineering Department, National University of Singapore, 9 Engineering Drive 1, Singapore117576"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, National University of Singapore, 9 Engineering Drive 1, Singapore117576","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5061597777"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":1.0018,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.81324391,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"34","issue":"12","first_page":"2729","last_page":"2740"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994000196456909,"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":0.9994000196456909,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9975000023841858,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9975000023841858,"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/computation","display_name":"Computation","score":0.6875298023223877},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.6637191772460938},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.618439793586731},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5954236388206482},{"id":"https://openalex.org/keywords/kronecker-delta","display_name":"Kronecker delta","score":0.5833906531333923},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5790508389472961},{"id":"https://openalex.org/keywords/complement","display_name":"Complement (music)","score":0.5041695833206177},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.41587385535240173},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39378517866134644},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3746988773345947},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3607980012893677},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3383808732032776}],"concepts":[{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6875298023223877},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.6637191772460938},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.618439793586731},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5954236388206482},{"id":"https://openalex.org/C39482219","wikidata":"https://www.wikidata.org/wiki/Q192826","display_name":"Kronecker delta","level":2,"score":0.5833906531333923},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5790508389472961},{"id":"https://openalex.org/C112313634","wikidata":"https://www.wikidata.org/wiki/Q7886648","display_name":"Complement (music)","level":5,"score":0.5041695833206177},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.41587385535240173},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39378517866134644},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3746988773345947},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3607980012893677},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3383808732032776},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C127716648","wikidata":"https://www.wikidata.org/wiki/Q104053","display_name":"Phenotype","level":3,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C188082640","wikidata":"https://www.wikidata.org/wiki/Q1780899","display_name":"Complementation","level":4,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574715000338","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574715000338","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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":27,"referenced_works":["https://openalex.org/W177883436","https://openalex.org/W1527225842","https://openalex.org/W2000117647","https://openalex.org/W2021599527","https://openalex.org/W2046528545","https://openalex.org/W2054475862","https://openalex.org/W2057479940","https://openalex.org/W2061877446","https://openalex.org/W2069715493","https://openalex.org/W2072884984","https://openalex.org/W2073223212","https://openalex.org/W2085264132","https://openalex.org/W2093220968","https://openalex.org/W2094801294","https://openalex.org/W2107768848","https://openalex.org/W2111859920","https://openalex.org/W2113735881","https://openalex.org/W2121349631","https://openalex.org/W2123446940","https://openalex.org/W2127220039","https://openalex.org/W2150382645","https://openalex.org/W2151651896","https://openalex.org/W2158288882","https://openalex.org/W2160732528","https://openalex.org/W2167916881","https://openalex.org/W2478597376","https://openalex.org/W6683604425"],"related_works":["https://openalex.org/W3153509215","https://openalex.org/W2952308006","https://openalex.org/W1876360243","https://openalex.org/W4301793409","https://openalex.org/W300594107","https://openalex.org/W1178061417","https://openalex.org/W2028667466","https://openalex.org/W2789582299","https://openalex.org/W2030956755","https://openalex.org/W1997719461"],"abstract_inverted_index":{"SUMMARY":[0],"Although":[1],"the":[2,38,45,80,98,124,152,160,173],"registration":[3,39,81,99],"of":[4,40,56,82,100,159],"a":[5,18,31,41,69,75,83,101,115],"robot":[6,43,103],"is":[7,22,74,90,120,144,176,184],"crucial":[8],"in":[9,104,169],"order":[10],"to":[11,17,26,47,67,78,122,151,166,178],"identify":[12],"its":[13],"pose":[14],"with":[15,51],"respect":[16],"tracking":[19],"system,":[20],"there":[21],"no":[23],"reported":[24],"solution":[25,96],"address":[27],"this":[28,105],"issue":[29],"for":[30,97],"hybrid":[32,42,84,102],"robot.":[33,85],"Different":[34],"from":[35,112],"classical":[36],"registration,":[37],"requires":[44],"need":[46],"solve":[48,79],"an":[49,93],"equation":[50],"three":[52],"unknowns":[53,58],"where":[54,181],"two":[55],"these":[57],"are":[59,139],"coupled":[60],"together.":[61],"This":[62,72],"property":[63,158],"makes":[64,163],"it":[65,132,164],"difficult":[66],"obtain":[68],"closed-form":[70,95,108],"solution.":[71],"paper":[73],"first":[76],"attempt":[77],"The":[86,141,155],"Degradation-Kronecker":[87],"(D-K)":[88],"method":[89,119,143,162,175],"proposed":[91,121],"as":[92,149],"optimal":[94],"paper.":[106],"Since":[107],"methods":[109,138],"generally":[110],"suffer":[111],"limited":[113],"accuracy,":[114],"purely":[116],"nonlinear":[117],"(PN)":[118],"complement":[123],"D-K":[125,153,161],"method.":[126,154],"With":[127],"simulation":[128],"and":[129],"experiment":[130],"results,":[131],"has":[133],"been":[134],"found":[135],"that":[136],"both":[137],"robust.":[140],"PN":[142,174],"more":[145],"accurate":[146],"but":[147],"slower":[148],"compared":[150],"fast":[156],"computation":[157],"appropriate":[165],"be":[167,179],"applied":[168,180],"real-time":[170],"circumstances,":[171],"while":[172],"suitable":[177],"good":[182],"accuracy":[183],"preferred.":[185]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}