{"id":"https://openalex.org/W2168830678","doi":"https://doi.org/10.1109/ichr.2008.4755999","title":"Self learning of gravity compensation by LOCH humanoid robot","display_name":"Self learning of gravity compensation by LOCH humanoid robot","publication_year":2008,"publication_date":"2008-12-01","ids":{"openalex":"https://openalex.org/W2168830678","doi":"https://doi.org/10.1109/ichr.2008.4755999","mag":"2168830678"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2008.4755999","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2008.4755999","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","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/A5071487619","display_name":"Ming Xie","orcid":"https://orcid.org/0000-0001-8013-7274"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"M. Xie","raw_affiliation_strings":["Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100714988","display_name":"Z.W. Zhong","orcid":"https://orcid.org/0000-0002-0762-3580"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Z.W. Zhong","raw_affiliation_strings":["Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006527469","display_name":"L. Zhang","orcid":"https://orcid.org/0000-0003-2895-065X"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"L. Zhang","raw_affiliation_strings":["Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102911614","display_name":"Haoqin Yang","orcid":"https://orcid.org/0009-0009-1430-851X"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"H.J. Yang","raw_affiliation_strings":["Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046237578","display_name":"Christina Soyoung Song","orcid":"https://orcid.org/0000-0003-2031-5694"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"C.S. Song","raw_affiliation_strings":["Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019666184","display_name":"J. Li","orcid":"https://orcid.org/0000-0002-7302-1254"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"J. Li","raw_affiliation_strings":["Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014358380","display_name":"Liang Xian","orcid":"https://orcid.org/0000-0002-4782-5857"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"L.B. Xian","raw_affiliation_strings":["Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100435848","display_name":"Lei Wang","orcid":"https://orcid.org/0000-0002-0961-0441"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"L. Wang","raw_affiliation_strings":["Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5071487619"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":0.4844,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.7045655,"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":"320","last_page":"325"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9897000193595886,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9843999743461609,"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/humanoid-robot","display_name":"Humanoid robot","score":0.9251278042793274},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.7540152072906494},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6936863660812378},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6086028814315796},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5942965149879456},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5519058108329773},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.528840184211731},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47824540734291077},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44332176446914673},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3788093328475952},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33794376254081726},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3326016664505005},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2699192762374878},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2409023940563202},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12502717971801758},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09371605515480042},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.09027156233787537},{"id":"https://openalex.org/keywords/network-packet","display_name":"Network packet","score":0.05737048387527466}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.9251278042793274},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.7540152072906494},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6936863660812378},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6086028814315796},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5942965149879456},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5519058108329773},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.528840184211731},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47824540734291077},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44332176446914673},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3788093328475952},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33794376254081726},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3326016664505005},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2699192762374878},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2409023940563202},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12502717971801758},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09371605515480042},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.09027156233787537},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.05737048387527466},{"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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ichr.2008.4755999","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2008.4755999","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8199999928474426}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322670","display_name":"Tehran University of Medical Sciences and Health Services","ror":"https://ror.org/01c4pz451"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W197340314","https://openalex.org/W1519954258","https://openalex.org/W1979856824","https://openalex.org/W2018106540","https://openalex.org/W2030159458","https://openalex.org/W2106863585","https://openalex.org/W2129754669","https://openalex.org/W2142992961","https://openalex.org/W2330402540","https://openalex.org/W2540854764","https://openalex.org/W2543538194","https://openalex.org/W2546325924","https://openalex.org/W6676137358"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W2312786236","https://openalex.org/W20648474","https://openalex.org/W2372125609"],"abstract_inverted_index":{"A":[0],"humanoid":[1,25,122,135],"robot":[2,26,123,136],"is":[3,19,49,124],"a":[4,20,24,45,52,92,100,121,134],"complex":[5],"machine":[6],"with":[7,133],"many":[8],"degrees":[9],"of":[10,40,55,61,68,75,82,113,128],"freedom.":[11],"And,":[12],"the":[13,16,38,66,73,79,84,88,107,111,117],"control":[14],"at":[15,116],"joint":[17],"level":[18],"crucial":[21],"step":[22],"for":[23,72,110],"to":[27],"achieve":[28],"fast":[29],"and":[30,43,95,139],"accurate":[31],"movements.":[32],"In":[33],"this":[34],"paper,":[35],"we":[36,63,77,98],"address":[37],"issue":[39],"gravity":[41,57,69,89,114],"compensation,":[42],"propose":[44],"learning":[46,102],"approach":[47],"which":[48,86,104],"inspired":[50],"by":[51],"human-like":[53,101],"scheme":[54],"compensating":[56],"through":[58],"learning.":[59],"First":[60],"all,":[62],"will":[64],"describe":[65],"importance":[67],"compensation.":[70],"Then,":[71],"purpose":[74],"comparison,":[76],"outline":[78],"theoretical":[80],"way":[81],"computing":[83],"torques":[85,109],"compensate":[87],"acting":[90,115],"on":[91],"limbpsilas":[93],"links":[94],"payload.":[96],"Subsequently,":[97],"present":[99],"scheme,":[103],"accurately":[105],"determines":[106],"necessary":[108],"compensation":[112],"various":[118],"joints":[119],"when":[120],"in":[125],"any":[126],"posture":[127],"interest.":[129],"Finally,":[130],"real":[131],"experiments":[132],"are":[137],"presented":[138],"discussed.":[140]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
