{"id":"https://openalex.org/W1992271516","doi":"https://doi.org/10.1109/ascc.2013.6606242","title":"Model-free and model-based time-optimal control of a badminton robot","display_name":"Model-free and model-based time-optimal control of a badminton robot","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W1992271516","doi":"https://doi.org/10.1109/ascc.2013.6606242","mag":"1992271516"},"language":"en","primary_location":{"id":"doi:10.1109/ascc.2013.6606242","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ascc.2013.6606242","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 9th Asian Control Conference (ASCC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5109653805","display_name":"M. Liu","orcid":"https://orcid.org/0009-0009-7263-3951"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"M. Liu","raw_affiliation_strings":["Delft Center for Systems and Control, Delf University of Technology, CD Delft, Netherlands","Delft Center for Systems and Control, Delft University of Technology Delft, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft Center for Systems and Control, Delf University of Technology, CD Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Delft Center for Systems and Control, Delft University of Technology Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007995298","display_name":"Bruno Depraetere","orcid":"https://orcid.org/0000-0003-2011-3857"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"B. Depraetere","raw_affiliation_strings":["Flanders' Mechatronics Technology Centre (FMTC), Heverlee-Leuven, Belgium","Flanders' Mechatron. Technol. Centre (FMTC), Heverlee-Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Flanders' Mechatronics Technology Centre (FMTC), Heverlee-Leuven, Belgium","institution_ids":[]},{"raw_affiliation_string":"Flanders' Mechatron. Technol. Centre (FMTC), Heverlee-Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111712621","display_name":"Gregory Pinte","orcid":null},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"G. Pinte","raw_affiliation_strings":["Flanders' Mechatronics Technology Centre (FMTC), Heverlee-Leuven, Belgium","Flanders' Mechatron. Technol. Centre (FMTC), Heverlee-Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Flanders' Mechatronics Technology Centre (FMTC), Heverlee-Leuven, Belgium","institution_ids":[]},{"raw_affiliation_string":"Flanders' Mechatron. Technol. Centre (FMTC), Heverlee-Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028459687","display_name":"I. Grondman","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"I. Grondman","raw_affiliation_strings":["Delft Center for Systems and Control, Delf University of Technology, CD Delft, Netherlands","Delft Center for Systems and Control, Delft University of Technology Delft, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft Center for Systems and Control, Delf University of Technology, CD Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Delft Center for Systems and Control, Delft University of Technology Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084264842","display_name":"Robert Babu\u0161ka","orcid":"https://orcid.org/0000-0001-9578-8598"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"R. Babuska","raw_affiliation_strings":["Delft Center for Systems and Control, Delf University of Technology, CD Delft, Netherlands","Delft Center for Systems and Control, Delft University of Technology Delft, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft Center for Systems and Control, Delf University of Technology, CD Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Delft Center for Systems and Control, Delft University of Technology Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9742000102996826,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10882","display_name":"Cardiomyopathy and Myosin Studies","score":0.9420999884605408,"subfield":{"id":"https://openalex.org/subfields/2705","display_name":"Cardiology and Cardiovascular Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.828805148601532},{"id":"https://openalex.org/keywords/racket","display_name":"Racket","score":0.8010650873184204},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7297238707542419},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6197877526283264},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6060889363288879},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.597964882850647},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5944942235946655},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5164437294006348},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5157923698425293},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.511896014213562},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.49519696831703186},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.48480525612831116},{"id":"https://openalex.org/keywords/q-learning","display_name":"Q-learning","score":0.48055222630500793},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4403463304042816},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4387098252773285},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41793113946914673},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37792468070983887},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37346023321151733},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2851007580757141},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2707008123397827},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1339695155620575},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11243030428886414},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.09794095158576965}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.828805148601532},{"id":"https://openalex.org/C2778707667","wikidata":"https://www.wikidata.org/wiki/Q1254148","display_name":"Racket","level":3,"score":0.8010650873184204},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7297238707542419},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6197877526283264},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6060889363288879},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.597964882850647},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5944942235946655},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5164437294006348},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5157923698425293},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.511896014213562},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.49519696831703186},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.48480525612831116},{"id":"https://openalex.org/C188116033","wikidata":"https://www.wikidata.org/wiki/Q2664563","display_name":"Q-learning","level":3,"score":0.48055222630500793},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4403463304042816},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4387098252773285},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41793113946914673},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37792468070983887},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37346023321151733},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2851007580757141},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2707008123397827},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1339695155620575},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11243030428886414},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.09794095158576965},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ascc.2013.6606242","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ascc.2013.6606242","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 9th Asian Control Conference (ASCC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.46000000834465027}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1515361063","https://openalex.org/W1515851193","https://openalex.org/W1579498353","https://openalex.org/W1594783240","https://openalex.org/W1966086707","https://openalex.org/W1979672505","https://openalex.org/W1995219649","https://openalex.org/W2006244652","https://openalex.org/W2077891204","https://openalex.org/W2107726111","https://openalex.org/W2112608567","https://openalex.org/W2134882417","https://openalex.org/W2139236743","https://openalex.org/W2155027007","https://openalex.org/W2156321584","https://openalex.org/W2156737235","https://openalex.org/W2157701998","https://openalex.org/W2172968643","https://openalex.org/W3151006504","https://openalex.org/W4214717370","https://openalex.org/W4252099851","https://openalex.org/W6635508374","https://openalex.org/W6641887673","https://openalex.org/W6644987756","https://openalex.org/W6676657247","https://openalex.org/W6683195989","https://openalex.org/W6683204974"],"related_works":["https://openalex.org/W2744434216","https://openalex.org/W2744749537","https://openalex.org/W598786559","https://openalex.org/W2489491829","https://openalex.org/W2744275524","https://openalex.org/W1532677580","https://openalex.org/W1527727992","https://openalex.org/W2001900524","https://openalex.org/W2917916498","https://openalex.org/W1531114845"],"abstract_inverted_index":{"In":[0],"this":[1,21,56,108],"research,":[2],"time":[3,61],"optimal":[4],"control":[5,113],"is":[6,53,81,93,138],"considered":[7],"for":[8],"the":[9,23,69,98,112,124,141],"hit":[10],"motion":[11,57],"of":[12,143],"a":[13,17,30,38,43,47,77,84,117,135],"badminton":[14],"robot":[15,100],"during":[16],"serve":[18],"operation.":[19],"For":[20],"task":[22],"racket":[24],"always":[25],"starts":[26],"at":[27],"rest":[28],"in":[29,58],"given":[31],"position":[32,45],"and":[33,46,134,151],"has":[34],"to":[35,37,54,96,107,123],"move":[36],"target":[39,44,49],"state,":[40],"defined":[41],"by":[42],"non-zero":[48],"velocity.":[50],"The":[51,126],"goal":[52],"complete":[55],"as":[59,62,146,148],"little":[60],"possible,":[63],"yet":[64],"without":[65],"violating":[66],"bounds":[67],"on":[68],"actuator.":[70],"To":[71],"find":[72],"controllers":[73],"satisfying":[74],"these":[75],"requirements,":[76],"reinforcement":[78,88],"learning":[79,89,110],"approach":[80,92],"implemented,":[82],"using":[83],"Natural":[85],"Actor-Critic":[86],"(NAC)":[87],"algorithm.":[90],"This":[91],"experimentally":[94],"shown":[95],"yield":[97],"desired":[99],"motions":[101],"after":[102],"about":[103],"200":[104],"trials.":[105],"Next":[106],"model-free":[109],"approach,":[111,145],"signals":[114],"obtained":[115],"with":[116,129],"model-based":[118],"optimization":[119],"are":[120,132],"also":[121],"applied":[122],"robot.":[125],"results":[127],"achieved":[128],"both":[130],"approaches":[131],"compared,":[133],"thorough":[136],"analysis":[137],"presented,":[139],"highlighting":[140],"properties":[142],"each":[144],"well":[147],"their":[149],"advantages":[150],"drawbacks.":[152]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
