{"id":"https://openalex.org/W1964251592","doi":"https://doi.org/10.1109/aim.2013.6584258","title":"Global identification of mechanical and electrical parameters of DC motor driven joint with a fast CLOE method","display_name":"Global identification of mechanical and electrical parameters of DC motor driven joint with a fast CLOE method","publication_year":2013,"publication_date":"2013-07-01","ids":{"openalex":"https://openalex.org/W1964251592","doi":"https://doi.org/10.1109/aim.2013.6584258","mag":"1964251592"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2013.6584258","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2013.6584258","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics","raw_type":"proceedings-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/A5112091686","display_name":"P.Ph. Robet","orcid":null},"institutions":[{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]},{"id":"https://openalex.org/I234216984","display_name":"Universit\u00e9 Nantes Angers Le Mans","ror":"https://ror.org/0406t3m57","country_code":"FR","type":"education","lineage":["https://openalex.org/I234216984"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"P. Ph Robet","raw_affiliation_strings":["LUNAM, University of Nantes, Nantes, France","IRCCyN - Institut de Recherche en Communications et en Cybern\u00e9tique de Nantes (1, rue de la No\u00eb BP92101 44321 Nantes Cedex 03 - France)"],"affiliations":[{"raw_affiliation_string":"LUNAM, University of Nantes, Nantes, France","institution_ids":["https://openalex.org/I97188460","https://openalex.org/I234216984"]},{"raw_affiliation_string":"IRCCyN - Institut de Recherche en Communications et en Cybern\u00e9tique de Nantes (1, rue de la No\u00eb BP92101 44321 Nantes Cedex 03 - France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101665387","display_name":"Maxime Gautier","orcid":"https://orcid.org/0000-0002-3927-0054"},"institutions":[{"id":"https://openalex.org/I234216984","display_name":"Universit\u00e9 Nantes Angers Le Mans","ror":"https://ror.org/0406t3m57","country_code":"FR","type":"education","lineage":["https://openalex.org/I234216984"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M. Gautier","raw_affiliation_strings":["LUNAM, University of Nantes, Nantes, France","IRCCyN - Institut de Recherche en Communications et en Cybern\u00e9tique de Nantes (1, rue de la No\u00eb BP92101 44321 Nantes Cedex 03 - France)"],"affiliations":[{"raw_affiliation_string":"LUNAM, University of Nantes, Nantes, France","institution_ids":["https://openalex.org/I97188460","https://openalex.org/I234216984"]},{"raw_affiliation_string":"IRCCyN - Institut de Recherche en Communications et en Cybern\u00e9tique de Nantes (1, rue de la No\u00eb BP92101 44321 Nantes Cedex 03 - France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071988650","display_name":"A. Jubien","orcid":null},"institutions":[{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]},{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"A. Jubien","raw_affiliation_strings":["Universite de Nantes, Nantes, Pays de la Loire, FR","ONERA - The French Aerospace Lab [Palaiseau] (F-91761 Palaiseau - France)","IRCCyN - Institut de Recherche en Communications et en Cybern\u00e9tique de Nantes (1, rue de la No\u00eb BP92101 44321 Nantes Cedex 03 - France)"],"affiliations":[{"raw_affiliation_string":"Universite de Nantes, Nantes, Pays de la Loire, FR","institution_ids":["https://openalex.org/I97188460"]},{"raw_affiliation_string":"ONERA - The French Aerospace Lab [Palaiseau] (F-91761 Palaiseau - France)","institution_ids":["https://openalex.org/I2801658355"]},{"raw_affiliation_string":"IRCCyN - Institut de Recherche en Communications et en Cybern\u00e9tique de Nantes (1, rue de la No\u00eb BP92101 44321 Nantes Cedex 03 - France)","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040559111","display_name":"Alexandre Janot","orcid":"https://orcid.org/0000-0003-1851-6454"},"institutions":[{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"A. Janot","raw_affiliation_strings":["ONERA, Toulouse, France","ONERA - The French Aerospace Lab [Palaiseau] (F-91761 Palaiseau - France)"],"affiliations":[{"raw_affiliation_string":"ONERA, Toulouse, France","institution_ids":["https://openalex.org/I2801658355"]},{"raw_affiliation_string":"ONERA - The French Aerospace Lab [Palaiseau] (F-91761 Palaiseau - France)","institution_ids":["https://openalex.org/I2801658355"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5112091686"],"corresponding_institution_ids":["https://openalex.org/I234216984","https://openalex.org/I97188460"],"apc_list":null,"apc_paid":null,"fwci":0.5091,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.70225224,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"1","issue":null,"first_page":"1205","last_page":"1210"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9977999925613403,"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/T11236","display_name":"Control Systems and Identification","score":0.9977999925613403,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9972000122070312,"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":0.9939000010490417,"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/control-theory","display_name":"Control theory (sociology)","score":0.6963369846343994},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.6804190278053284},{"id":"https://openalex.org/keywords/dc-motor","display_name":"DC motor","score":0.6626302003860474},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5896953344345093},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.5215892195701599},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5002298355102539},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.48009541630744934},{"id":"https://openalex.org/keywords/system-identification","display_name":"System identification","score":0.4268453121185303},{"id":"https://openalex.org/keywords/electric-motor","display_name":"Electric motor","score":0.42104610800743103},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.41861382126808167},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41518619656562805},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25666147470474243},{"id":"https://openalex.org/keywords/data-modeling","display_name":"Data modeling","score":0.18239963054656982},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16804727911949158},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09812882542610168},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08553498983383179}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6963369846343994},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.6804190278053284},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.6626302003860474},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5896953344345093},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.5215892195701599},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5002298355102539},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.48009541630744934},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.4268453121185303},{"id":"https://openalex.org/C176871988","wikidata":"https://www.wikidata.org/wiki/Q72313","display_name":"Electric motor","level":2,"score":0.42104610800743103},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.41861382126808167},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41518619656562805},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25666147470474243},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.18239963054656982},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16804727911949158},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09812882542610168},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08553498983383179},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/aim.2013.6584258","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2013.6584258","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-00877573v1","is_oa":false,"landing_page_url":"https://hal.science/hal-00877573","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Jul 2013, Wollongong, Australia. pp.1205-1210, ⟨10.1109/AIM.2013.6584258⟩","raw_type":"Conference papers"},{"id":"pmh:oai:HAL:hal-01170764v1","is_oa":false,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-01170764","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"info:eu-repo/semantics/conferenceObject"}],"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/W178056938","https://openalex.org/W331957638","https://openalex.org/W1485426748","https://openalex.org/W1558923004","https://openalex.org/W1747949188","https://openalex.org/W1867856468","https://openalex.org/W1965324089","https://openalex.org/W1973965719","https://openalex.org/W1979224873","https://openalex.org/W1989517777","https://openalex.org/W2006635779","https://openalex.org/W2019432159","https://openalex.org/W2058246047","https://openalex.org/W2091020207","https://openalex.org/W2104883012","https://openalex.org/W2119143623","https://openalex.org/W2159537373","https://openalex.org/W2169017219","https://openalex.org/W2289874265","https://openalex.org/W2325530759","https://openalex.org/W2726047422","https://openalex.org/W2735204520","https://openalex.org/W6633216577","https://openalex.org/W6638906486","https://openalex.org/W6645011646","https://openalex.org/W6652018441","https://openalex.org/W6739973053"],"related_works":["https://openalex.org/W1993031470","https://openalex.org/W2126837612","https://openalex.org/W1515319340","https://openalex.org/W2163734300","https://openalex.org/W2357831471","https://openalex.org/W2366203545","https://openalex.org/W4200558823","https://openalex.org/W2270864633","https://openalex.org/W1522425194","https://openalex.org/W4385792374"],"abstract_inverted_index":{"In":[0],"many":[1],"cases":[2],"of":[3,6,17,70,86,97,114],"new":[4,116],"actuation":[5],"compliant":[7],"controlled":[8],"or":[9],"bio-inspired":[10],"joint":[11,110],"driven":[12,109],"robot,":[13],"a":[14,28,32,63,67,80,106],"global":[15],"identification":[16,42,69,96],"electrical":[18,72,101],"and":[19,73,100],"mechanical":[20,74,99],"coupled":[21,95],"dynamics":[22,75],"is":[23,89],"required.":[24],"This":[25],"paper":[26],"proposes":[27],"technique":[29,50],"which":[30,45,58],"mixes":[31],"closed":[33],"loop":[34],"output":[35],"error":[36],"method":[37,44,88],"with":[38],"the":[39,53,71,94,112,115],"inverse":[40],"dynamic":[41],"model":[43],"allows":[46,66],"using":[47],"linear":[48],"least-squares":[49],"to":[51,78,91],"estimate":[52],"parameters.":[54,102],"A":[55,83,103],"first":[56],"approach":[57],"has":[59],"been":[60],"validated":[61],"on":[62,105],"DC":[64,107],"motor":[65,108],"decoupled":[68],"but":[76],"fails":[77],"make":[79],"simultaneous":[81],"identification.":[82],"major":[84],"improvement":[85],"that":[87],"proposed":[90],"carry":[92],"out":[93],"both":[98],"validation":[104],"shows":[111],"effectiveness":[113],"procedure.":[117]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}