{"id":"https://openalex.org/W2783840948","doi":"https://doi.org/10.1109/humanoids.2017.8246910","title":"First-order-principles-based constructive network topologies: An application to robot inverse dynamics","display_name":"First-order-principles-based constructive network topologies: An application to robot inverse dynamics","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2783840948","doi":"https://doi.org/10.1109/humanoids.2017.8246910","mag":"2783840948"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2017.8246910","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2017.8246910","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","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/A5102956250","display_name":"Fernando D\u00edaz Ledezma","orcid":"https://orcid.org/0000-0002-4824-7550"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Fernando Diaz Ledezma","raw_affiliation_strings":["Faculty of Electrical Engineering and Computer Science, Leibniz Universit\u00e4t Hannover, Hannover, Germany"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computer Science, Leibniz Universit\u00e4t Hannover, Hannover, Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Faculty of Electrical Engineering and Computer Science, Leibniz Universit\u00e4t Hannover, Hannover, Germany"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computer Science, Leibniz Universit\u00e4t Hannover, Hannover, Germany","institution_ids":["https://openalex.org/I114112103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5102956250"],"corresponding_institution_ids":["https://openalex.org/I114112103"],"apc_list":null,"apc_paid":null,"fwci":1.5601,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.87795168,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.9965000152587891,"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/T10320","display_name":"Neural Networks and Applications","score":0.9965000152587891,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.996399998664856,"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/T11206","display_name":"Model Reduction and Neural Networks","score":0.9925000071525574,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.7844789028167725},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.7829494476318359},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6611092686653137},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5290583372116089},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.48782041668891907},{"id":"https://openalex.org/keywords/constructive","display_name":"Constructive","score":0.48246341943740845},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4764968752861023},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.4183773398399353},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20572614669799805}],"concepts":[{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.7844789028167725},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.7829494476318359},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6611092686653137},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5290583372116089},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.48782041668891907},{"id":"https://openalex.org/C2778701210","wikidata":"https://www.wikidata.org/wiki/Q28130034","display_name":"Constructive","level":3,"score":0.48246341943740845},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4764968752861023},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4183773398399353},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20572614669799805},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2017.8246910","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2017.8246910","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.5899999737739563,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W44821117","https://openalex.org/W50819626","https://openalex.org/W321615515","https://openalex.org/W935774826","https://openalex.org/W1463826794","https://openalex.org/W1483845297","https://openalex.org/W1525827038","https://openalex.org/W1538755060","https://openalex.org/W1637253159","https://openalex.org/W1964511224","https://openalex.org/W1979004306","https://openalex.org/W1997543377","https://openalex.org/W1998179438","https://openalex.org/W2035587171","https://openalex.org/W2039475797","https://openalex.org/W2056161538","https://openalex.org/W2077075836","https://openalex.org/W2079315820","https://openalex.org/W2101234009","https://openalex.org/W2112900765","https://openalex.org/W2126885794","https://openalex.org/W2177933918","https://openalex.org/W2197726977","https://openalex.org/W2297367780","https://openalex.org/W2533650254","https://openalex.org/W2535731875","https://openalex.org/W2556833785","https://openalex.org/W2604268533","https://openalex.org/W2963055657","https://openalex.org/W2963305465","https://openalex.org/W4232342880","https://openalex.org/W4295185264","https://openalex.org/W4299356270","https://openalex.org/W6675354045","https://openalex.org/W6701573534","https://openalex.org/W6728420475","https://openalex.org/W6729972426","https://openalex.org/W6736176650"],"related_works":["https://openalex.org/W94411513","https://openalex.org/W2377770720","https://openalex.org/W2113626999","https://openalex.org/W4311883357","https://openalex.org/W3162204513","https://openalex.org/W160889949","https://openalex.org/W2364696089","https://openalex.org/W309910862","https://openalex.org/W2369004811","https://openalex.org/W2392500469"],"abstract_inverted_index":{"Modeling":[0],"physical":[1,67],"systems":[2],"with":[3],"neural":[4],"networks":[5,60],"(NN)":[6],"requires":[7],"expert":[8],"architects":[9],"to":[10,54,111,130,152],"determine":[11,55],"the":[12,42,88,99,109,119,125,144],"best":[13],"number":[14,83],"of":[15,57,66,72,84,124,157],"nodes,":[16],"layers":[17],"and":[18,34,51,76,98,103,117,121],"activation":[19],"functions.":[20],"For":[21,143],"complex":[22,146],"systems,":[23],"such":[24],"as":[25,78,80,135,137],"articulated":[26],"robots,":[27],"reported":[28],"results":[29],"are":[30,128],"limited":[31],"in":[32],"accuracy":[33],"generalization":[35,104,122,160],"capabilities.":[36],"In":[37,91],"this":[38,92],"work,":[39],"we":[40],"introduce":[41],"concept":[43],"FOPnet.":[44],"It":[45],"is":[46,96],"based":[47],"on":[48],"first-order":[49],"principles":[50],"system":[52],"knowledge":[53],"topologies":[56,70],"parametrized":[58],"operator":[59],"that":[61,86],"accurately":[62],"model":[63],"input-output":[64],"mappings":[65],"systems.":[68],"These":[69],"consist":[71],"meaningful":[73],"building":[74],"elements":[75],"connections":[77],"well":[79,136],"a":[81,112,138,154],"reduced":[82],"parameters":[85],"describe":[87],"variables'":[89],"interdependencies.":[90],"way,":[93],"learning":[94],"speed":[95],"boosted":[97],"model's":[100],"accuracy,":[101],"precision":[102],"power":[105],"improved.":[106],"We":[107],"apply":[108],"methodology":[110],"7":[113],"degrees-of-freedom":[114],"LWR4":[115],"manipulator":[116],"discuss":[118],"estimation":[120],"capabilities":[123],"network.":[126],"Results":[127],"compared":[129],"conventional":[131],"Feed":[132],"Forward":[133],"NN":[134],"state-of-the-art":[139],"Deep":[140],"Recurrent":[141],"NN.":[142],"considered":[145],"robot":[147],"dynamics":[148],"FOPnet":[149],"was":[150],"able":[151],"achieve":[153],"seven":[155],"orders":[156],"magnitude":[158],"smaller":[159],"RMSE.":[161]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
