{"id":"https://openalex.org/W2570238019","doi":"https://doi.org/10.1109/cdc.2016.7799380","title":"Learning control for task specific industrial robots","display_name":"Learning control for task specific industrial robots","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2570238019","doi":"https://doi.org/10.1109/cdc.2016.7799380","mag":"2570238019"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2016.7799380","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2016.7799380","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 55th Conference on Decision and Control (CDC)","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/A5029127365","display_name":"Chung\u2010Yen Lin","orcid":"https://orcid.org/0000-0002-4733-9488"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Chung-Yen Lin","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047216687","display_name":"Wenjie Chen","orcid":"https://orcid.org/0000-0002-1751-6826"},"institutions":[{"id":"https://openalex.org/I164160370","display_name":"Fanuc (Japan)","ror":"https://ror.org/02twwap54","country_code":"JP","type":"company","lineage":["https://openalex.org/I164160370"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Wenjie Chen","raw_affiliation_strings":["FANUC Corporation, Yamanashiken, Japan"],"affiliations":[{"raw_affiliation_string":"FANUC Corporation, Yamanashiken, Japan","institution_ids":["https://openalex.org/I164160370"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064077634","display_name":"Masayoshi Tomizuka","orcid":"https://orcid.org/0000-0003-0206-6639"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Masayoshi Tomizuka","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5029127365"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18343148,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":null,"first_page":"7202","last_page":"7209"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9998999834060669,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9998999834060669,"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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9973999857902527,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9932000041007996,"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/iterative-learning-control","display_name":"Iterative learning control","score":0.8740066885948181},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7359046936035156},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6747251749038696},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6461105346679688},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6019313335418701},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.5543748140335083},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4989326000213623},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.49440813064575195},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4871618449687958},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.47749704122543335},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43407773971557617},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.42517656087875366},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39423421025276184},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3372376561164856},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15916520357131958},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11722418665885925}],"concepts":[{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.8740066885948181},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7359046936035156},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6747251749038696},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6461105346679688},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6019313335418701},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.5543748140335083},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4989326000213623},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.49440813064575195},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4871618449687958},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.47749704122543335},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43407773971557617},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.42517656087875366},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39423421025276184},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3372376561164856},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15916520357131958},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11722418665885925},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2016.7799380","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2016.7799380","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 55th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.41999998688697815,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W210359992","https://openalex.org/W607315870","https://openalex.org/W618799468","https://openalex.org/W1557010079","https://openalex.org/W1677682992","https://openalex.org/W1746819321","https://openalex.org/W1762113120","https://openalex.org/W2018742520","https://openalex.org/W2025939589","https://openalex.org/W2041242313","https://openalex.org/W2050551142","https://openalex.org/W2062691475","https://openalex.org/W2069439810","https://openalex.org/W2073756420","https://openalex.org/W2132673028","https://openalex.org/W2144313354","https://openalex.org/W2290529174","https://openalex.org/W2501537193","https://openalex.org/W2725155761","https://openalex.org/W4211049957"],"related_works":["https://openalex.org/W2074966081","https://openalex.org/W2379960361","https://openalex.org/W2133373519","https://openalex.org/W2478562663","https://openalex.org/W2176100605","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W2104608934","https://openalex.org/W1498036222"],"abstract_inverted_index":{"Iterative":[0],"learning":[1],"control":[2,10,133],"(ILC)":[3],"is":[4,32,54,86],"a":[5,9,68,94,100,125,132,149,153,161,176],"strategy":[6],"that":[7,33,135],"allows":[8],"system":[11],"to":[12,38,43,71,77,88,138],"improve":[13],"its":[14],"performance":[15],"by":[16],"making":[17],"use":[18],"of":[19,29,48,96,111,146,167,185],"the":[20,34,62,73,90,109,115,139,144,171],"error":[21],"signals":[22],"collected":[23],"from":[24,41,118],"previous":[25],"iterations.":[26],"A":[27,45,82],"prerequisite":[28],"using":[30],"ILC":[31,49,75,91,116,140,173],"output":[35],"reference":[36,63],"has":[37],"be":[39,122],"repetitive":[40],"trial":[42],"trial.":[44],"full":[46,150,177],"run":[47],"training":[50,151,178],"(taking":[51],"non-negligible":[52],"time)":[53],"needed":[55],"when":[56],"there":[57],"exist":[58],"small":[59],"changes":[60],"in":[61,99],"signal.":[64],"This":[65,128],"paper":[66],"introduces":[67],"new":[69,154],"approach":[70],"extrapolate":[72],"converged":[74],"policies":[76,117],"previously":[78],"unseen":[79],"tracking":[80],"problems.":[81],"time-frequency":[83],"domain":[84],"mapping":[85],"constructed":[87],"approximate":[89],"policy":[92,134,141],"for":[93,152,179],"group":[95],"trajectories":[97,120],"used":[98],"particular":[101,181],"task,":[102],"say":[103],"spot":[104],"welding.":[105],"We":[106],"also":[107],"introduce":[108],"idea":[110],"feature-frequency":[112],"space,":[113],"where":[114],"different":[119],"can":[121,130],"encoded":[123],"into":[124],"single":[126],"model.":[127],"model":[129],"generate":[131],"performs":[136],"comparably":[137],"while":[142],"having":[143],"advantage":[145],"not":[147],"requiring":[148],"trajectory.":[155],"The":[156],"proposed":[157],"method":[158],"implemented":[159],"on":[160],"FANUC":[162],"R-2000iC":[163],"robot":[164],"achieved":[165,183],"31.6%":[166],"vibration":[168,186],"reduction":[169],"whereas":[170],"standard":[172],"(i.e.,":[174],"with":[175],"each":[180],"trajectory)":[182],"34.6%":[184],"reduction.":[187]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
