{"id":"https://openalex.org/W4402018258","doi":"https://doi.org/10.1108/ir-03-2024-0131","title":"Adaptive EC-GPR: a hybrid torque prediction model for mobile robots with unknown terrain disturbances","display_name":"Adaptive EC-GPR: a hybrid torque prediction model for mobile robots with unknown terrain disturbances","publication_year":2024,"publication_date":"2024-08-29","ids":{"openalex":"https://openalex.org/W4402018258","doi":"https://doi.org/10.1108/ir-03-2024-0131"},"language":"en","primary_location":{"id":"doi:10.1108/ir-03-2024-0131","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-03-2024-0131","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","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/A5056826834","display_name":"Yiting Kang","orcid":"https://orcid.org/0000-0003-4806-636X"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yiting Kang","raw_affiliation_strings":["School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035389273","display_name":"Biao Xue","orcid":"https://orcid.org/0000-0002-3996-0311"},"institutions":[{"id":"https://openalex.org/I4210157313","display_name":"Hefei Meiling (China)","ror":"https://ror.org/04hzt6a67","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210157313"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Biao Xue","raw_affiliation_strings":["Department of Jingsong Research, Hefei Jingsong Intelligent Technology Co. Ltd., Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Jingsong Research, Hefei Jingsong Intelligent Technology Co. Ltd., Hefei, China","institution_ids":["https://openalex.org/I4210157313"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103278952","display_name":"Jianshu Wei","orcid":"https://orcid.org/0000-0002-9778-7131"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianshu Wei","raw_affiliation_strings":["School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015547124","display_name":"Riya Zeng","orcid":"https://orcid.org/0000-0003-2163-2923"},"institutions":[{"id":"https://openalex.org/I4210145005","display_name":"State Key Laboratory of Vehicle NVH and Safety Technology","ror":"https://ror.org/04e6h1p91","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210145005"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Riya Zeng","raw_affiliation_strings":["Department of Testing Technology, China North Vehicle Research Institute, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Testing Technology, China North Vehicle Research Institute, Beijing, China","institution_ids":["https://openalex.org/I4210145005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113427213","display_name":"Mengbo Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengbo Yan","raw_affiliation_strings":["School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111316089","display_name":"Fei Li","orcid":"https://orcid.org/0009-0006-9163-4384"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Li","raw_affiliation_strings":["School of Civil and Resources Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Civil and Resources Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5056826834"],"corresponding_institution_ids":["https://openalex.org/I92403157"],"apc_list":null,"apc_paid":null,"fwci":0.1859,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.44104325,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"52","issue":"1","first_page":"126","last_page":"136"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and 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"}},"topics":[{"id":"https://openalex.org/T10876","display_name":"Fault Detection and 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":0.9919000267982483,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.982200026512146,"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/terrain","display_name":"Terrain","score":0.8291743993759155},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.61944180727005},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5775241851806641},{"id":"https://openalex.org/keywords/ground-penetrating-radar","display_name":"Ground-penetrating radar","score":0.5725458860397339},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5348882079124451},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4801218509674072},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3369676470756531},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3196543753147125},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.18751931190490723},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17619603872299194},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12915527820587158},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.09211719036102295},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08592015504837036},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07660374045372009}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8291743993759155},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.61944180727005},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5775241851806641},{"id":"https://openalex.org/C71813955","wikidata":"https://www.wikidata.org/wiki/Q503560","display_name":"Ground-penetrating radar","level":3,"score":0.5725458860397339},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5348882079124451},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4801218509674072},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3369676470756531},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3196543753147125},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.18751931190490723},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17619603872299194},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12915527820587158},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.09211719036102295},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08592015504837036},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07660374045372009},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-03-2024-0131","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-03-2024-0131","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1571870753","https://openalex.org/W2027805025","https://openalex.org/W2097838739","https://openalex.org/W2114053147","https://openalex.org/W2343277622","https://openalex.org/W2512519599","https://openalex.org/W2764270470","https://openalex.org/W2782613402","https://openalex.org/W2805610399","https://openalex.org/W2808816909","https://openalex.org/W2883970169","https://openalex.org/W2924430754","https://openalex.org/W2954761708","https://openalex.org/W2957761226","https://openalex.org/W2962949910","https://openalex.org/W2986502120","https://openalex.org/W3035525587","https://openalex.org/W3048046124","https://openalex.org/W3106549592","https://openalex.org/W3124827602","https://openalex.org/W3167898823","https://openalex.org/W3189070974","https://openalex.org/W3189838404","https://openalex.org/W3195158006","https://openalex.org/W4206340595","https://openalex.org/W4206413782","https://openalex.org/W4317374263","https://openalex.org/W4385639391","https://openalex.org/W4385811477","https://openalex.org/W4395007665"],"related_works":["https://openalex.org/W4315471419","https://openalex.org/W2946057701","https://openalex.org/W3213331859","https://openalex.org/W4226458444","https://openalex.org/W4390637946","https://openalex.org/W4226082913","https://openalex.org/W2113164274","https://openalex.org/W2122871747","https://openalex.org/W2132444301","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Purpose":[0],"The":[1,74,118,145],"accurate":[2],"prediction":[3,63,89,155],"of":[4,13,30,42,111,131],"driving":[5,46,64,129,142,173],"torque":[6,31,47,65,130,174],"demand":[7],"is":[8,58,67,76,104,121,164],"essential":[9],"for":[10,16,35,87,176],"the":[11,40,44,61,88,98,109,112,128,149,153,167,172],"development":[12],"motion":[14],"controllers":[15],"mobile":[17,36,133,177],"robots":[18,37,178],"on":[19,123,135],"complex":[20],"terrains.":[21],"This":[22],"paper":[23],"aims":[24],"to":[25,38,84,106],"propose":[26],"a":[27,79,101,124,132],"hybrid":[28],"model":[29,83,120,169],"prediction,":[32],"adaptive":[33,150],"EC-GPR,":[34],"address":[39],"problem":[41],"estimating":[43],"required":[45],"with":[48,140,159],"unknown":[49],"terrain":[50,93,184],"disturbances.":[51],"Design/methodology/approach":[52],"An":[53],"error":[54,75],"compensation":[55,86,113],"(EC)":[56],"framework":[57],"used,":[59],"and":[60,95],"preliminary":[62],"value":[66],"achieved":[68],"using":[69,78],"Gaussian":[70],"process":[71],"regression":[72],"(GPR).":[73],"predicted":[77],"continuous":[80],"hidden":[81],"Markov":[82],"generate":[85],"residual":[90],"caused":[91],"by":[92],"disturbances":[94],"uncertainties.":[96],"As":[97],"final":[99],"step,":[100],"gain":[102],"coefficient":[103],"used":[105],"adaptively":[107],"tune":[108],"significance":[110],"term":[114],"through":[115],"parameter":[116],"resetting.":[117],"proposed":[119,168],"verified":[122],"sample":[125],"set,":[126],"including":[127],"robot":[134],"three":[136],"different":[137],"sandy":[138],"terrains":[139],"two":[141],"modes.":[143],"Findings":[144],"results":[146],"show":[147],"that":[148,166],"EC-GPR":[151],"yields":[152],"highest":[154],"accuracy":[156],"when":[157],"compared":[158],"existing":[160],"methods.":[161],"Originality/value":[162],"It":[163],"demonstrated":[165],"can":[170],"predict":[171],"accurately":[175],"in":[179],"an":[180],"unconstructed":[181],"environment":[182],"without":[183],"identification.":[185]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-30T17:31:21.811387","created_date":"2025-10-10T00:00:00"}