{"id":"https://openalex.org/W2947347510","doi":"https://doi.org/10.1109/access.2019.2920020","title":"Force/Position Hybrid Control for a Hexa Robot Using Gradient Descent Iterative Learning Control Algorithm","display_name":"Force/Position Hybrid Control for a Hexa Robot Using Gradient Descent Iterative Learning Control Algorithm","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2947347510","doi":"https://doi.org/10.1109/access.2019.2920020","mag":"2947347510"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2920020","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2920020","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08726373.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08726373.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036417229","display_name":"Ba-Phuc Huynh","orcid":"https://orcid.org/0000-0001-9821-9147"},"institutions":[{"id":"https://openalex.org/I154864474","display_name":"National Taiwan University of Science and Technology","ror":"https://ror.org/00q09pe49","country_code":"TW","type":"education","lineage":["https://openalex.org/I154864474"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Ba-Phuc Huynh","raw_affiliation_strings":["Graduate Institute of Automation and Control, National Taiwan University of Science and Technology, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate Institute of Automation and Control, National Taiwan University of Science and Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I154864474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046371361","display_name":"Chengwei Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I154864474","display_name":"National Taiwan University of Science and Technology","ror":"https://ror.org/00q09pe49","country_code":"TW","type":"education","lineage":["https://openalex.org/I154864474"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Cheng-Wei Wu","raw_affiliation_strings":["Graduate Institute of Automation and Control, National Taiwan University of Science and Technology, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate Institute of Automation and Control, National Taiwan University of Science and Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I154864474"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052353686","display_name":"Yong-Lin Kuo","orcid":"https://orcid.org/0000-0003-3582-6067"},"institutions":[{"id":"https://openalex.org/I154864474","display_name":"National Taiwan University of Science and Technology","ror":"https://ror.org/00q09pe49","country_code":"TW","type":"education","lineage":["https://openalex.org/I154864474"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Yong-Lin Kuo","raw_affiliation_strings":["Graduate Institute of Automation and Control, National Taiwan University of Science and Technology, Taipei, Taiwan"],"raw_orcid":"https://orcid.org/0000-0003-3582-6067","affiliations":[{"raw_affiliation_string":"Graduate Institute of Automation and Control, National Taiwan University of Science and Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I154864474"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I154864474"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":3.1204,"has_fulltext":true,"cited_by_count":32,"citation_normalized_percentile":{"value":0.9184339,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"7","issue":null,"first_page":"72329","last_page":"72342"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","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/T11749","display_name":"Iterative Learning Control Systems","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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9871000051498413,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9868999719619751,"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/gradient-descent","display_name":"Gradient descent","score":0.7537859678268433},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.7105761170387268},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.6879996061325073},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6681030988693237},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6569772958755493},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.603680431842804},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5990396738052368},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5524178147315979},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.4629564881324768},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.4509460926055908},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2938232421875},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26803672313690186},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19712093472480774},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16550010442733765},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.14644154906272888},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.11647829413414001}],"concepts":[{"id":"https://openalex.org/C153258448","wikidata":"https://www.wikidata.org/wiki/Q1199743","display_name":"Gradient descent","level":3,"score":0.7537859678268433},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.7105761170387268},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.6879996061325073},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6681030988693237},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6569772958755493},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.603680431842804},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5990396738052368},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5524178147315979},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.4629564881324768},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.4509460926055908},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2938232421875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26803672313690186},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19712093472480774},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16550010442733765},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.14644154906272888},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.11647829413414001},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2920020","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2920020","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08726373.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:5deb681cab164ff0b3628905168b6f5d","is_oa":true,"landing_page_url":"https://doaj.org/article/5deb681cab164ff0b3628905168b6f5d","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 72329-72342 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2920020","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2920020","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08726373.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2967846136","display_name":null,"funder_award_id":"MOST 107-2221-E-011-135","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"}],"funders":[{"id":"https://openalex.org/F4320322795","display_name":"Ministry of Science and Technology, Taiwan","ror":"https://ror.org/02kv4zf79"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2947347510.pdf","grobid_xml":"https://content.openalex.org/works/W2947347510.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W177093312","https://openalex.org/W939392648","https://openalex.org/W1500588313","https://openalex.org/W1517060199","https://openalex.org/W1994609633","https://openalex.org/W2009013689","https://openalex.org/W2016958754","https://openalex.org/W2038686170","https://openalex.org/W2049938190","https://openalex.org/W2054558916","https://openalex.org/W2077129956","https://openalex.org/W2091271588","https://openalex.org/W2096372876","https://openalex.org/W2106296284","https://openalex.org/W2111954619","https://openalex.org/W2126747268","https://openalex.org/W2133932631","https://openalex.org/W2156321584","https://openalex.org/W2160919669","https://openalex.org/W2196183686","https://openalex.org/W2343277025","https://openalex.org/W2405680459","https://openalex.org/W2503149995","https://openalex.org/W2605924076","https://openalex.org/W2772142527","https://openalex.org/W2776409760","https://openalex.org/W2781518733","https://openalex.org/W2786369902","https://openalex.org/W2890276261","https://openalex.org/W2891787325","https://openalex.org/W2896990572","https://openalex.org/W6652515670","https://openalex.org/W6683111245"],"related_works":["https://openalex.org/W2761624296","https://openalex.org/W4386994694","https://openalex.org/W4388738109","https://openalex.org/W2002388147","https://openalex.org/W2362901947","https://openalex.org/W3098928304","https://openalex.org/W2362086884","https://openalex.org/W1606071314","https://openalex.org/W2394883510","https://openalex.org/W2350210972"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"approach":[4],"of":[5,59,105,135],"the":[6,24,35,40,49,54,57,60,78,96,106,120,131,136],"force/position":[7],"hybrid":[8],"control":[9,42,65,88],"for":[10],"a":[11,17,71,83,126],"hexa":[12],"parallel":[13],"robot":[14,107,128],"to":[15,33,43,48,69,94,112,129],"guarantee":[16,70],"safe":[18,72],"and":[19,56,73,92,114,133],"accurate":[20,74],"interaction":[21,75],"when":[22,76],"touching":[23,77],"object":[25,79],"surface.":[26,80],"A":[27,103],"double-loop":[28],"PID":[29,37],"controller":[30,38],"is":[31,67,90,108],"proposed":[32,137],"replace":[34],"common":[36],"in":[39,100,110],"position":[41,45],"eliminate":[44],"errors":[46],"due":[47],"dynamics":[50],"coupling":[51],"effect":[52],"between":[53],"arms":[55],"vibration":[58],"mechanical":[61],"system.":[62],"An":[63],"impedance":[64,98],"model":[66,104],"used":[68,91],"In":[81],"addition,":[82],"gradient":[84],"descent":[85],"iterative":[86],"learning":[87],"algorithm":[89],"modified":[93],"determine":[95],"optimal":[97],"parameters":[99],"unknown":[101],"environments.":[102],"built":[109],"SimMechanics":[111],"simulate":[113],"estimate":[115],"system":[116],"parameters.":[117],"After":[118],"that,":[119],"experimental":[121],"work":[122],"was":[123],"conducted":[124],"on":[125],"real":[127],"verify":[130],"effectiveness":[132],"feasibility":[134],"method.":[138]},"counts_by_year":[{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
