{"id":"https://openalex.org/W2898886931","doi":"https://doi.org/10.1109/ccta.2018.8511383","title":"Modeling Errors Analysis in Inverse Dynamics Approaches Within a Task-Priority Framework","display_name":"Modeling Errors Analysis in Inverse Dynamics Approaches Within a Task-Priority Framework","publication_year":2018,"publication_date":"2018-08-01","ids":{"openalex":"https://openalex.org/W2898886931","doi":"https://doi.org/10.1109/ccta.2018.8511383","mag":"2898886931"},"language":"en","primary_location":{"id":"doi:10.1109/ccta.2018.8511383","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2018.8511383","pdf_url":null,"source":{"id":"https://openalex.org/S4306498315","display_name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","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/A5030334035","display_name":"Gianluca Antonelli","orcid":"https://orcid.org/0000-0002-5511-0165"},"institutions":[{"id":"https://openalex.org/I186995768","display_name":"Universit\u00e0 degli studi di Cassino e del Lazio Meridionale","ror":"https://ror.org/04nxkaq16","country_code":"IT","type":"education","lineage":["https://openalex.org/I186995768"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Gianluca Antonelli","raw_affiliation_strings":["Department of Electrical and Information Engineering, University of Cassino and Southern Lazio, Cassino, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Information Engineering, University of Cassino and Southern Lazio, Cassino, Italy","institution_ids":["https://openalex.org/I186995768"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017596699","display_name":"Paolo Di Lillo","orcid":"https://orcid.org/0000-0003-2083-1883"},"institutions":[{"id":"https://openalex.org/I186995768","display_name":"Universit\u00e0 degli studi di Cassino e del Lazio Meridionale","ror":"https://ror.org/04nxkaq16","country_code":"IT","type":"education","lineage":["https://openalex.org/I186995768"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Di Lillo","raw_affiliation_strings":["Department of Electrical and Information Engineering, University of Cassino and Southern Lazio, Cassino, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Information Engineering, University of Cassino and Southern Lazio, Cassino, Italy","institution_ids":["https://openalex.org/I186995768"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041446451","display_name":"Ciro Natale","orcid":"https://orcid.org/0000-0001-6550-0573"},"institutions":[{"id":"https://openalex.org/I197809005","display_name":"University of Campania \"Luigi Vanvitelli\"","ror":"https://ror.org/02kqnpp86","country_code":"IT","type":"education","lineage":["https://openalex.org/I197809005"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ciro Natale","raw_affiliation_strings":["Dipartimento di Ingegneria Industriale e dell'Informazione, Universit\u00e0 degli Studi della Campania \u201cLuigi Vanvitelli\u201d, Aversa, Italy","Dipartimento di Ingegneria Industriale e dell'Informazione, Universit\u00e0 degli Studi della Campania \"Luigi Vanvitelli\", Aversa, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Industriale e dell'Informazione, Universit\u00e0 degli Studi della Campania \u201cLuigi Vanvitelli\u201d, Aversa, Italy","institution_ids":["https://openalex.org/I197809005"]},{"raw_affiliation_string":"Dipartimento di Ingegneria Industriale e dell'Informazione, Universit\u00e0 degli Studi della Campania \"Luigi Vanvitelli\", Aversa, Italy","institution_ids":["https://openalex.org/I197809005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5030334035"],"corresponding_institution_ids":["https://openalex.org/I186995768"],"apc_list":null,"apc_paid":null,"fwci":1.1227,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.74085366,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"553","last_page":"558"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9976999759674072,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9958000183105469,"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/inverse-dynamics","display_name":"Inverse dynamics","score":0.6805469989776611},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6712256073951721},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6649734377861023},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6602765321731567},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6529412865638733},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5837371349334717},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5498367547988892},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.5014553070068359},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.47811880707740784},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4674927294254303},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42443016171455383},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3233385682106018},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.25496813654899597},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21374812722206116},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1937294602394104},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.07817825675010681}],"concepts":[{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.6805469989776611},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6712256073951721},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6649734377861023},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6602765321731567},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6529412865638733},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5837371349334717},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5498367547988892},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.5014553070068359},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.47811880707740784},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4674927294254303},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42443016171455383},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3233385682106018},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25496813654899597},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21374812722206116},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1937294602394104},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.07817825675010681},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ccta.2018.8511383","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2018.8511383","pdf_url":null,"source":{"id":"https://openalex.org/S4306498315","display_name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7099999785423279}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W990093006","https://openalex.org/W1571162977","https://openalex.org/W1988946454","https://openalex.org/W2002529332","https://openalex.org/W2016647629","https://openalex.org/W2032381729","https://openalex.org/W2047246948","https://openalex.org/W2067069201","https://openalex.org/W2079775715","https://openalex.org/W2112474089","https://openalex.org/W2113265921","https://openalex.org/W2114006755","https://openalex.org/W2133170315","https://openalex.org/W2135929901","https://openalex.org/W2144294016","https://openalex.org/W2164032318","https://openalex.org/W2250331966","https://openalex.org/W2288490925","https://openalex.org/W2337286925","https://openalex.org/W2540408120"],"related_works":["https://openalex.org/W2607470227","https://openalex.org/W1253671258","https://openalex.org/W2951020105","https://openalex.org/W1995243476","https://openalex.org/W2218699221","https://openalex.org/W2898458249","https://openalex.org/W2731862817","https://openalex.org/W133449524","https://openalex.org/W2572731987","https://openalex.org/W4285133152"],"abstract_inverted_index":{"Control":[0],"algorithms":[1,97],"of":[2,21,41,44,55,62,92,108,112,119,132],"large":[3],"Degrees":[4],"Of":[5],"Freedom":[6],"(DOFs)":[7],"robotic":[8,47],"systems":[9],"based":[10,98],"on":[11,99,125],"Inverse-Kinematic":[12],"or":[13,69,81,84],"Inverse-Dynamic":[14],"approaches":[15],"are":[16],"two":[17],"well":[18],"known":[19],"topics":[20],"research":[22],"in":[23,46,58,78,95],"control":[24,96],"theory.":[25],"In":[26,115],"the":[27,38,42,50,53,63,67,79,90,105,109,113,123,126,130],"last":[28],"years":[29],"those":[30],"subjects":[31],"never":[32],"diminished":[33],"their":[34],"importance":[35],"due":[36],"to":[37,104,121],"progressively":[39],"increase":[40,75],"number":[43],"DOFs":[45],"applications.":[48],"Among":[49],"various":[51],"possibilities,":[52],"design":[54],"tasks":[56],"arranged":[57],"priorities":[59],"is":[60,72,118],"one":[61],"prominent.":[64],"Task-priority":[65],"at":[66],"kinematic":[68],"dynamic":[70,110],"level":[71],"witnessing":[73],"an":[74],"interest":[76,120],"especially":[77],"humanoid":[80],"floating-base":[82],"(underwater":[83],"aerial)":[85],"communities.":[86],"This":[87],"paper":[88],"investigates":[89],"effects":[91],"modeling":[93],"errors":[94],"Inverse":[100],"Dynamics":[101],"with":[102],"respect":[103],"uncertain":[106],"knowledge":[107],"parameters":[111],"model.":[114],"particular,":[116],"it":[117],"understand":[122],"effect":[124],"null-space":[127],"projections":[128],"and":[129],"sources":[131],"steady":[133],"state":[134],"errors.":[135]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}