{"id":"https://openalex.org/W4384299920","doi":"https://doi.org/10.1017/s0263574723000772","title":"Adaptive and iterative learning control to simultaneously control end-effector force and direction by normal vectors learning","display_name":"Adaptive and iterative learning control to simultaneously control end-effector force and direction by normal vectors learning","publication_year":2023,"publication_date":"2023-07-14","ids":{"openalex":"https://openalex.org/W4384299920","doi":"https://doi.org/10.1017/s0263574723000772"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574723000772","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574723000772","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/A5110180311","display_name":"Liang Han","orcid":"https://orcid.org/0000-0001-7779-0280"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Han","raw_affiliation_strings":["School of Electrical and Automation Engineering, Hefei University of Technology, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0001-7779-0280","affiliations":[{"raw_affiliation_string":"School of Electrical and Automation Engineering, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083202787","display_name":"Yu Gao","orcid":"https://orcid.org/0000-0002-8724-7748"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Gao","raw_affiliation_strings":["School of Electrical and Automation Engineering, Hefei University of Technology, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Automation Engineering, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101835822","display_name":"Yunzhi Huang","orcid":"https://orcid.org/0000-0003-2344-1071"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yunzhi Huang","raw_affiliation_strings":["School of Electrical and Automation Engineering, Hefei University of Technology, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Automation Engineering, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035195155","display_name":"Wenfu Xu","orcid":"https://orcid.org/0000-0001-8218-6061"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenfu Xu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061724331","display_name":"Lei He","orcid":"https://orcid.org/0000-0003-3028-6305"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei He","raw_affiliation_strings":["School of Electrical and Automation Engineering, Hefei University of Technology, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Automation Engineering, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101835822"],"corresponding_institution_ids":["https://openalex.org/I16365422"],"apc_list":null,"apc_paid":null,"fwci":0.3478,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.51675835,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"41","issue":"9","first_page":"2861","last_page":"2881"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9970999956130981,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9970999956130981,"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/T10188","display_name":"Advanced machining processes and optimization","score":0.991599977016449,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9897000193595886,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/surface","display_name":"Surface (topology)","score":0.6538127660751343},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.6313050985336304},{"id":"https://openalex.org/keywords/normal","display_name":"Normal","score":0.621148943901062},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6189383268356323},{"id":"https://openalex.org/keywords/polishing","display_name":"Polishing","score":0.5591273903846741},{"id":"https://openalex.org/keywords/perpendicular","display_name":"Perpendicular","score":0.4971213638782501},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49069464206695557},{"id":"https://openalex.org/keywords/normal-force","display_name":"Normal force","score":0.46178963780403137},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.44905829429626465},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44783663749694824},{"id":"https://openalex.org/keywords/relation","display_name":"Relation (database)","score":0.44674667716026306},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4398784637451172},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41436925530433655},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3370705544948578},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31781530380249023},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26990365982055664},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2605360746383667},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.18542087078094482},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.182313472032547},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14305832982063293},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.0898360013961792},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.08080226182937622}],"concepts":[{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.6538127660751343},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.6313050985336304},{"id":"https://openalex.org/C118732077","wikidata":"https://www.wikidata.org/wiki/Q273176","display_name":"Normal","level":3,"score":0.621148943901062},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6189383268356323},{"id":"https://openalex.org/C138113353","wikidata":"https://www.wikidata.org/wiki/Q611639","display_name":"Polishing","level":2,"score":0.5591273903846741},{"id":"https://openalex.org/C199631012","wikidata":"https://www.wikidata.org/wiki/Q205034","display_name":"Perpendicular","level":2,"score":0.4971213638782501},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49069464206695557},{"id":"https://openalex.org/C165846633","wikidata":"https://www.wikidata.org/wiki/Q541008","display_name":"Normal force","level":2,"score":0.46178963780403137},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.44905829429626465},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44783663749694824},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.44674667716026306},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4398784637451172},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41436925530433655},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3370705544948578},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31781530380249023},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26990365982055664},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2605360746383667},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.18542087078094482},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.182313472032547},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14305832982063293},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0898360013961792},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.08080226182937622}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574723000772","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574723000772","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":32,"referenced_works":["https://openalex.org/W1971154871","https://openalex.org/W1977240978","https://openalex.org/W1978023077","https://openalex.org/W1990281946","https://openalex.org/W1994588561","https://openalex.org/W2026108493","https://openalex.org/W2027995116","https://openalex.org/W2041242313","https://openalex.org/W2043831253","https://openalex.org/W2110015582","https://openalex.org/W2111993331","https://openalex.org/W2156567753","https://openalex.org/W2169440744","https://openalex.org/W2247230765","https://openalex.org/W2318613964","https://openalex.org/W2582387390","https://openalex.org/W2753320496","https://openalex.org/W2783418378","https://openalex.org/W2789837488","https://openalex.org/W2790010208","https://openalex.org/W2795974647","https://openalex.org/W2884228673","https://openalex.org/W2893379190","https://openalex.org/W2909302178","https://openalex.org/W2913938871","https://openalex.org/W2926550000","https://openalex.org/W2947347510","https://openalex.org/W2996400196","https://openalex.org/W3003613205","https://openalex.org/W3004532600","https://openalex.org/W3133988555","https://openalex.org/W4220956739"],"related_works":["https://openalex.org/W2355958986","https://openalex.org/W3201488580","https://openalex.org/W3173830104","https://openalex.org/W4384299920","https://openalex.org/W2909867350","https://openalex.org/W2602161929","https://openalex.org/W2142334096","https://openalex.org/W4387353049","https://openalex.org/W2035737784","https://openalex.org/W3157281130"],"abstract_inverted_index":{"Abstract":[0],"It":[1],"is":[2,90,108,134,149,154],"very":[3],"challenging":[4],"for":[5],"robots":[6],"to":[7,66,85,110,143,174],"perform":[8],"grinding":[9],"and":[10,33,49,52,71,159],"polishing":[11],"tasks":[12],"on":[13,41,73,96,115,125],"surfaces":[14],"with":[15,177],"unknown":[16,74,117,127],"geometry.":[17],"Most":[18],"existing":[19],"methods":[20],"solve":[21],"this":[22,57],"problem":[23],"by":[24,37,156],"modeling":[25],"the":[26,29,39,77,81,86,93,97,105,116,121,126,130,138,145,162,168,175],"relationship":[27],"between":[28],"force":[30,70,82,122,132],"sensing":[31,83],"information":[32,84],"surface":[34,87,112,176],"normal":[35,62,88,113],"vectors":[36,63,89,114],"analyzing":[38],"forces":[40],"special":[42],"end":[43],"tools":[44,48,51],"such":[45],"as":[46],"spherical":[47],"cylindrical":[50],"simplified":[53],"friction":[54],"model.":[55],"In":[56],"paper,":[58],"we":[59],"propose":[60],"a":[61,178],"learning":[64,147],"method":[65,153],"simultaneously":[67],"control":[68,123,133,140,148],"end-effector":[69,169],"direction":[72,139],"surfaces.":[75],"First,":[76],"relation":[78,107],"that":[79,167],"mapping":[80],"learned":[91,106],"from":[92],"demonstrated":[94],"data":[95],"known":[98],"plane":[99],"using":[100,161],"locally":[101],"weighted":[102],"regression.":[103],"Next,":[104],"used":[109],"estimate":[111],"surface.":[118],"To":[119,136],"improve":[120,137],"precision":[124,141],"geometry":[128],"surface,":[129],"adaptive":[131],"developed.":[135,150],"due":[142],"friction,":[144],"iterative":[146],"The":[151],"proposed":[152],"verified":[155],"comparative":[157],"simulations":[158],"experiments":[160],"Franka":[163],"robot.":[164],"Results":[165],"show":[166],"can":[170],"be":[171],"controlled":[172],"perpendicular":[173],"certain":[179],"force.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
