{"id":"https://openalex.org/W2782852457","doi":"https://doi.org/10.1109/etfa.2017.8247764","title":"Towards improving the absolute accuracy of lightweight robots by nonparametric calibration","display_name":"Towards improving the absolute accuracy of lightweight robots by nonparametric calibration","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2782852457","doi":"https://doi.org/10.1109/etfa.2017.8247764","mag":"2782852457"},"language":"en","primary_location":{"id":"doi:10.1109/etfa.2017.8247764","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2017.8247764","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://publica.fraunhofer.de/documents/N-507288.html","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026059669","display_name":"Jan Sabsch","orcid":null},"institutions":[{"id":"https://openalex.org/I4210139350","display_name":"Fraunhofer Institute for Factory Operation and Automation","ror":"https://ror.org/04qfaak15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210139350","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Jan Sabsch","raw_affiliation_strings":["Fraunhofer IFF, Robotic Systems Business Unit, Magdeburg, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer IFF, Robotic Systems Business Unit, Magdeburg, Germany","institution_ids":["https://openalex.org/I4210139350"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069153795","display_name":"Magnus Hanses","orcid":null},"institutions":[{"id":"https://openalex.org/I4210139350","display_name":"Fraunhofer Institute for Factory Operation and Automation","ror":"https://ror.org/04qfaak15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210139350","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Magnus Hanses","raw_affiliation_strings":["Fraunhofer IFF, Robotic Systems Business Unit, Magdeburg, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer IFF, Robotic Systems Business Unit, Magdeburg, Germany","institution_ids":["https://openalex.org/I4210139350"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019536517","display_name":"Sebastian Zug","orcid":"https://orcid.org/0000-0001-9949-6963"},"institutions":[{"id":"https://openalex.org/I4210145666","display_name":"Embedded Systems (United States)","ror":"https://ror.org/04742eh45","country_code":"US","type":"company","lineage":["https://openalex.org/I4210145666"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sebastian Zug","raw_affiliation_strings":["Dept. Embedded Smart Systems, Institute for distributed Systems, Magdeburg"],"affiliations":[{"raw_affiliation_string":"Dept. Embedded Smart Systems, Institute for distributed Systems, Magdeburg","institution_ids":["https://openalex.org/I4210145666"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051817928","display_name":"Norbert Elkmann","orcid":null},"institutions":[{"id":"https://openalex.org/I4210139350","display_name":"Fraunhofer Institute for Factory Operation and Automation","ror":"https://ror.org/04qfaak15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210139350","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Norbert Elkmann","raw_affiliation_strings":["Fraunhofer IFF, Robotic Systems Business Unit, Magdeburg, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer IFF, Robotic Systems Business Unit, Magdeburg, Germany","institution_ids":["https://openalex.org/I4210139350"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5026059669"],"corresponding_institution_ids":["https://openalex.org/I4210139350"],"apc_list":null,"apc_paid":null,"fwci":0.4023,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.65466532,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9976000189781189,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9976000189781189,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9847000241279602,"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/T13752","display_name":"Mechanics and Biomechanics Studies","score":0.9574999809265137,"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/robot","display_name":"Robot","score":0.8236806392669678},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7439483404159546},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6913542747497559},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.6516969203948975},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6361743211746216},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5305992364883423},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5283879637718201},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5086377859115601},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.48580455780029297},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4743458330631256},{"id":"https://openalex.org/keywords/nonparametric-statistics","display_name":"Nonparametric statistics","score":0.470964252948761},{"id":"https://openalex.org/keywords/dependency","display_name":"Dependency (UML)","score":0.4262394905090332},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4223648011684418},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.41515469551086426},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20407316088676453},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20050740242004395},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.05735328793525696}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8236806392669678},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7439483404159546},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6913542747497559},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.6516969203948975},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6361743211746216},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5305992364883423},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5283879637718201},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5086377859115601},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.48580455780029297},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4743458330631256},{"id":"https://openalex.org/C102366305","wikidata":"https://www.wikidata.org/wiki/Q1097688","display_name":"Nonparametric statistics","level":2,"score":0.470964252948761},{"id":"https://openalex.org/C19768560","wikidata":"https://www.wikidata.org/wiki/Q320727","display_name":"Dependency (UML)","level":2,"score":0.4262394905090332},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4223648011684418},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.41515469551086426},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20407316088676453},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20050740242004395},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.05735328793525696},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/etfa.2017.8247764","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2017.8247764","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","raw_type":"proceedings-article"},{"id":"pmh:oai:fraunhofer.de:N-507288","is_oa":true,"landing_page_url":"http://publica.fraunhofer.de/documents/N-507288.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fraunhofer IFF","raw_type":"Conference Paper"},{"id":"pmh:oai:publica.fraunhofer.de:publica/401999","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/401999","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"}],"best_oa_location":{"id":"pmh:oai:fraunhofer.de:N-507288","is_oa":true,"landing_page_url":"http://publica.fraunhofer.de/documents/N-507288.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fraunhofer IFF","raw_type":"Conference Paper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1484441983","https://openalex.org/W1967265872","https://openalex.org/W2008026620","https://openalex.org/W2042811678","https://openalex.org/W2070777007","https://openalex.org/W2087734342","https://openalex.org/W2114866967","https://openalex.org/W2124744005","https://openalex.org/W2144742121","https://openalex.org/W2155462480","https://openalex.org/W2166067296","https://openalex.org/W2594402318","https://openalex.org/W2766336937","https://openalex.org/W6734419489","https://openalex.org/W6745779631"],"related_works":["https://openalex.org/W4205370188","https://openalex.org/W2168042073","https://openalex.org/W2022505170","https://openalex.org/W2382000155","https://openalex.org/W2163965645","https://openalex.org/W1986271109","https://openalex.org/W4285819809","https://openalex.org/W2164665186","https://openalex.org/W2160971188","https://openalex.org/W2371564772"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"preparations":[3],"for":[4,31,60,105],"the":[5,26,35,48,55,66,81,87,92,102,106,111,116],"nonparametric":[6],"calibration":[7],"of":[8,47,57,83,115],"a":[9,45,61,73],"7":[10],"DOF":[11],"light-weight":[12],"robot":[13,117],"using":[14],"machine":[15],"learning":[16],"techniques":[17],"are":[18,118],"presented.":[19],"The":[20],"approach":[21],"was":[22],"developed":[23],"to":[24,121],"satisfy":[25],"requirements":[27],"on":[28],"absolute":[29],"accuracy":[30],"robot-assisted":[32],"surgery.":[33],"With":[34],"kinematic":[36,50],"and":[37,91],"non-kinematic":[38],"properties":[39],"in":[40,72],"mind,":[41],"we":[42,78],"showed":[43],"that":[44,98],"decomposition":[46],"robot's":[49,88],"chain":[51],"can":[52,69,96],"drastically":[53],"reduce":[54],"number":[56],"necessary":[58],"samples":[59],"sophisticated":[62],"training":[63],"set.":[64],"Thus,":[65],"data":[67,84],"acquisition":[68],"be":[70],"accomplished":[71],"feasible":[74],"time":[75],"frame.":[76],"Furthermore,":[77],"cope":[79],"with":[80],"problem":[82],"registration":[85],"between":[86,113],"internal":[89],"model":[90],"external":[93],"measurements.":[94],"We":[95],"show":[97],"by":[99,110],"carefully":[100],"choosing":[101],"split":[103],"point":[104],"decomposition,":[107],"errors":[108],"caused":[109],"dependency":[112],"sub-chains":[114],"small":[119],"enough":[120],"yield":[122],"satisfying":[123],"results.":[124]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}