{"id":"https://openalex.org/W2752199592","doi":"https://doi.org/10.1109/aim.2017.8014275","title":"Successive linearization based model predictive control of variable stiffness actuated robots","display_name":"Successive linearization based model predictive control of variable stiffness actuated robots","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2752199592","doi":"https://doi.org/10.1109/aim.2017.8014275","mag":"2752199592"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2017.8014275","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014275","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","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/A5042708119","display_name":"Altay Zhakatayev","orcid":"https://orcid.org/0000-0001-7388-4298"},"institutions":[{"id":"https://openalex.org/I4210162136","display_name":"National Institute of Metrology","ror":"https://ror.org/05dw0p167","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210162136"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Altay Zhakatayev","raw_affiliation_strings":["National Institute of Metrology, Beijing, China","[National Institute of Metrology, Beijing, China]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Metrology, Beijing, China","institution_ids":["https://openalex.org/I4210162136"]},{"raw_affiliation_string":"[National Institute of Metrology, Beijing, China]","institution_ids":["https://openalex.org/I4210162136"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047780014","display_name":"Bexultan Rakhim","orcid":null},"institutions":[{"id":"https://openalex.org/I4210162136","display_name":"National Institute of Metrology","ror":"https://ror.org/05dw0p167","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210162136"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bexultan Rakhim","raw_affiliation_strings":["National Institute of Metrology, Beijing, China","[National Institute of Metrology, Beijing, China]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Metrology, Beijing, China","institution_ids":["https://openalex.org/I4210162136"]},{"raw_affiliation_string":"[National Institute of Metrology, Beijing, China]","institution_ids":["https://openalex.org/I4210162136"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040061391","display_name":"Olzhas Adiyatov","orcid":"https://orcid.org/0000-0002-1060-3927"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Olzhas Adiyatov","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008444129","display_name":"Almaskhan Baimyshev","orcid":"https://orcid.org/0000-0002-8494-3676"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Almaskhan Baimyshev","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5044782949","display_name":"H\u00fcseyin Atakan Varol","orcid":"https://orcid.org/0000-0002-4042-425X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huseyin Atakan Varol","raw_affiliation_strings":["Department of Robotics and Mechatronics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6123,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.69971352,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1774","last_page":"1779"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9957000017166138,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9957000017166138,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9932000041007996,"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/model-predictive-control","display_name":"Model predictive control","score":0.8710548877716064},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8190811276435852},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.6652572154998779},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.5273992419242859},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5141509175300598},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5057954788208008},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5015549659729004},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4533417224884033},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4476281702518463},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4401785433292389},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.41822439432144165},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3539217710494995},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.30174267292022705},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1566336750984192},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.14536944031715393},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14103630185127258}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8710548877716064},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8190811276435852},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.6652572154998779},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.5273992419242859},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5141509175300598},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5057954788208008},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5015549659729004},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4533417224884033},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4476281702518463},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4401785433292389},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.41822439432144165},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3539217710494995},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.30174267292022705},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1566336750984192},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.14536944031715393},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14103630185127258},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2017.8014275","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014275","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8899999856948853,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1524391858","https://openalex.org/W1847353717","https://openalex.org/W1920558418","https://openalex.org/W1977164425","https://openalex.org/W1981320111","https://openalex.org/W1983864916","https://openalex.org/W2011833550","https://openalex.org/W2013439434","https://openalex.org/W2049268291","https://openalex.org/W2051681843","https://openalex.org/W2068993266","https://openalex.org/W2072508108","https://openalex.org/W2094121346","https://openalex.org/W2108394619","https://openalex.org/W2120630110","https://openalex.org/W2125527681","https://openalex.org/W2134375322","https://openalex.org/W2147666564","https://openalex.org/W2320689629","https://openalex.org/W2333868129","https://openalex.org/W2518251907","https://openalex.org/W2588965061","https://openalex.org/W6653900354"],"related_works":["https://openalex.org/W2364741597","https://openalex.org/W1492103595","https://openalex.org/W946352265","https://openalex.org/W3020787026","https://openalex.org/W2146351753","https://openalex.org/W2080896647","https://openalex.org/W2028217664","https://openalex.org/W2158000646","https://openalex.org/W2886734572","https://openalex.org/W2061823973"],"abstract_inverted_index":{"Variable":[0],"stiffness":[1,113],"actuation":[2],"is":[3,52,119,131],"a":[4,128,163,170,224],"new":[5],"design":[6],"paradigm":[7],"for":[8,45,111,147,184,202,207,228],"high":[9],"performance":[10,216],"and":[11,38,89,121,127,181,186,204],"energy":[12],"efficient":[13],"robots":[14,29,70],"with":[15,36,71,162],"inherent":[16],"safety":[17],"features.":[18],"Nonlinear":[19],"model":[20,95],"predictive":[21,96],"control":[22,27,97,145,149,197,226],"(NMPC)":[23],"was":[24,199],"employed":[25],"to":[26,31,34,65,153,157],"these":[28],"due":[30],"its":[32],"ability":[33],"cope":[35],"constrained":[37],"nonlinear":[39],"systems.":[40],"Even":[41],"though":[42],"the":[43,53,61,87,144,148,176,191,196,210,218],"results":[44],"NMPC":[46,64,185,203],"are":[47],"promising,":[48],"one":[49],"major":[50],"weakness":[51],"computational":[54],"cost":[55],"of":[56,63,68,86,139,195,220],"this":[57,100,134,140],"algorithm.":[58],"It":[59],"restricts":[60],"use":[62],"low":[66],"degree":[67],"freedom":[69],"relatively":[72],"slow":[73],"dynamics.":[74],"This":[75],"problem":[76,130,142],"can":[77],"be":[78],"alleviated":[79],"by":[80],"finding":[81],"an":[82],"approximate":[83],"linear":[84,136],"representation":[85],"system":[88,118],"using":[90,133],"less":[91],"computation":[92,193,211],"hungry":[93],"traditional":[94],"(MPC).":[98],"In":[99,151],"work,":[101],"we":[102,159],"present":[103],"our":[104,155,221],"successive":[105],"linearization":[106],"based":[107],"MPC":[108],"(SLMPC)":[109],"framework":[110],"variable":[112],"actuated":[114],"(VSA)":[115],"robots.":[116,230],"The":[117],"linearized":[120],"discretized":[122],"at":[123],"every":[124],"sampling":[125],"instant":[126],"quadratic":[129,141],"formulated":[132],"discrete-time":[135],"model.":[137],"Solution":[138],"provides":[143],"inputs":[146],"horizon.":[150],"order":[152],"compare":[154],"scheme":[156],"NMPC,":[158],"conducted":[160],"experiments":[161],"reaction":[164],"wheel":[165],"augmented":[166],"VSA":[167,229],"system.":[168],"For":[169],"16":[171],"s":[172],"trajectory":[173],"tracking":[174,215],"experiment,":[175],"root-mean-square":[177],"errors":[178],"were":[179],"0.54":[180],"0.64":[182],"degrees":[183],"SLMPC":[187],"methods,":[188],"respectively,":[189],"whereas":[190],"average":[192],"time":[194,212],"rule":[198],"2.17":[200],"ms":[201,206],"1.25":[205],"SLMPC.":[208],"Halving":[209],"without":[213],"compromising":[214],"shows":[217],"potential":[219],"approach":[222],"as":[223],"viable":[225],"alternative":[227]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
