{"id":"https://openalex.org/W4386952872","doi":"https://doi.org/10.1109/ccta54093.2023.10252242","title":"Force/Torque Sensor-Free Online Payload Estimation for a Pneumatically Driven Robot","display_name":"Force/Torque Sensor-Free Online Payload Estimation for a Pneumatically Driven Robot","publication_year":2023,"publication_date":"2023-08-16","ids":{"openalex":"https://openalex.org/W4386952872","doi":"https://doi.org/10.1109/ccta54093.2023.10252242"},"language":"en","primary_location":{"id":"doi:10.1109/ccta54093.2023.10252242","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ccta54093.2023.10252242","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5059219641","display_name":"Kathrin Hoffmann","orcid":"https://orcid.org/0000-0001-9730-6927"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Kathrin Hoffmann","raw_affiliation_strings":["University of Stuttgart,Institute for System Dynamics,Stuttgart,Germany,D-70563"],"affiliations":[{"raw_affiliation_string":"University of Stuttgart,Institute for System Dynamics,Stuttgart,Germany,D-70563","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054514563","display_name":"Christian Trapp","orcid":null},"institutions":[{"id":"https://openalex.org/I4210158977","display_name":"Festo (Germany)","ror":"https://ror.org/03ga8q162","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210158977"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Trapp","raw_affiliation_strings":["Festo SE & Co. KG,Robotics System Design,Esslingen,Germany,D-73734"],"affiliations":[{"raw_affiliation_string":"Festo SE & Co. KG,Robotics System Design,Esslingen,Germany,D-73734","institution_ids":["https://openalex.org/I4210158977"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090680559","display_name":"Alexander Hildebrandt","orcid":"https://orcid.org/0000-0003-3560-1642"},"institutions":[{"id":"https://openalex.org/I4210158977","display_name":"Festo (Germany)","ror":"https://ror.org/03ga8q162","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210158977"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Hildebrandt","raw_affiliation_strings":["Festo SE & Co. KG,Robotics System Design,Esslingen,Germany,D-73734"],"affiliations":[{"raw_affiliation_string":"Festo SE & Co. KG,Robotics System Design,Esslingen,Germany,D-73734","institution_ids":["https://openalex.org/I4210158977"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054507125","display_name":"Oliver Sawodny","orcid":"https://orcid.org/0000-0002-6910-2473"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oliver Sawodny","raw_affiliation_strings":["University of Stuttgart,Institute for System Dynamics,Stuttgart,Germany,D-70563"],"affiliations":[{"raw_affiliation_string":"University of Stuttgart,Institute for System Dynamics,Stuttgart,Germany,D-70563","institution_ids":["https://openalex.org/I100066346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5059219641"],"corresponding_institution_ids":["https://openalex.org/I100066346"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.12387106,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"315","last_page":"320"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9997000098228455,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9954000115394592,"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":0.9954000115394592,"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/payload","display_name":"Payload (computing)","score":0.8842697739601135},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7647501230239868},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6277629137039185},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5893097519874573},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.552466869354248},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5458985567092896},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4403045177459717},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3781856894493103},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3526812791824341},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16833776235580444},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16121265292167664}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.8842697739601135},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7647501230239868},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6277629137039185},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5893097519874573},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.552466869354248},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5458985567092896},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4403045177459717},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3781856894493103},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3526812791824341},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16833776235580444},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16121265292167664},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ccta54093.2023.10252242","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ccta54093.2023.10252242","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Decent work and economic growth","score":0.6000000238418579,"id":"https://metadata.un.org/sdg/8"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W178056938","https://openalex.org/W1974309896","https://openalex.org/W1997543377","https://openalex.org/W2001524797","https://openalex.org/W2018911853","https://openalex.org/W2039166158","https://openalex.org/W2078856056","https://openalex.org/W2097687117","https://openalex.org/W2106865725","https://openalex.org/W2109606373","https://openalex.org/W2113265921","https://openalex.org/W2159537373","https://openalex.org/W2626045845","https://openalex.org/W2773771478","https://openalex.org/W3023141614","https://openalex.org/W3214056068"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W4288094128","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4379531983","https://openalex.org/W2294241086","https://openalex.org/W2903025760","https://openalex.org/W4289147272"],"abstract_inverted_index":{"Robots":[0],"with":[1,152],"pneumatic":[2,16,117,185],"drives":[3],"have":[4],"advantageous":[5],"physical":[6],"properties":[7],"and":[8,11,44,51,91,150],"are":[9,24,130,135],"lightweight":[10],"cost-effective.":[12],"During":[13],"operation,":[14],"a":[15,58,66,70,120,153,167,174,184,188],"robot":[17,73,126,186],"handles":[18],"objects":[19],"of":[20,33,53,65,115,128,141],"different":[21],"payloads,":[22],"which":[23],"often":[25],"not":[26,79],"known":[27],"in":[28,137],"advance.":[29],"Determining":[30],"the":[31,63,88,102,113,116,123,125,138,142,160,171],"mass":[32,64],"this":[34,56],"load":[35],"is":[36,74,107,147,164,176,180],"crucial":[37],"for":[38,61,96,122],"user":[39],"assistance":[40],"functions,":[41],"trajectory":[42],"generation":[43],"model-based":[45,59],"control":[46,97],"to":[47,158,169],"increase":[48],"both":[49],"productivity":[50],"ease":[52],"use.":[54],"In":[55],"work,":[57],"approach":[60,77],"estimating":[62],"payload":[67,161,175],"gripped":[68],"by":[69,166],"pneumatically":[71],"driven":[72],"presented.":[75],"This":[76,163],"does":[78],"require":[80],"additional":[81],"force":[82],"or":[83],"torque":[84,106],"sensors,":[85],"but":[86],"uses":[87],"joint":[89],"angle":[90],"pressure":[92],"sensors":[93],"already":[94],"installed":[95],"purposes.":[98],"From":[99],"these":[100],"signals,":[101],"non-measurable":[103],"effective":[104],"driving":[105],"calculated":[108],"model-based,":[109],"taking":[110],"into":[111],"account":[112],"particularities":[114],"drives.":[118],"As":[119],"basis":[121],"estimation,":[124],"equations":[127],"motion":[129],"formulated":[131],"such":[132],"that":[133],"they":[134],"linear":[136],"dynamic":[139],"parameters":[140],"robot.":[143],"An":[144],"optimization":[145],"problem":[146],"set":[148],"up":[149],"solved":[151],"recursive":[154],"least":[155],"squares":[156],"method":[157],"estimate":[159],"online.":[162],"extended":[165],"logic":[168],"activate":[170],"estimation":[172],"when":[173],"picked.":[177],"The":[178],"algorithm":[179],"validated":[181],"experimentally":[182],"on":[183],"performing":[187],"typical":[189],"pick-and-place":[190],"task.":[191]},"counts_by_year":[],"updated_date":"2025-12-25T23:11:45.687758","created_date":"2025-10-10T00:00:00"}