{"id":"https://openalex.org/W2100604691","doi":"https://doi.org/10.1109/icra.2011.5980191","title":"Incremental learning of robot dynamics using random features","display_name":"Incremental learning of robot dynamics using random features","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2100604691","doi":"https://doi.org/10.1109/icra.2011.5980191","mag":"2100604691"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980191","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5054979732","display_name":"Arjan Gijsberts","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Arjan Gijsberts","raw_affiliation_strings":["Department of Robotics, Brain and Cognitive Sciences, Italian Institute of Technology, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Brain and Cognitive Sciences, Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090032106","display_name":"Giorgio Metta","orcid":"https://orcid.org/0000-0003-0459-4769"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgio Metta","raw_affiliation_strings":["Department of Communication, Computer and System Sciences, Faculty of Engineering, University of Genoa, Genoa, Italy","Department of Robotics, Brain and Cognitive Sciences, Italian Institute of Technology, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Communication, Computer and System Sciences, Faculty of Engineering, University of Genoa, Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Department of Robotics, Brain and Cognitive Sciences, Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5054979732"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":5.8725,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.9596698,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"20","issue":null,"first_page":"951","last_page":"956"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9952999949455261,"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/T11236","display_name":"Control Systems and Identification","score":0.9952999949455261,"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/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9934999942779541,"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/T12072","display_name":"Machine Learning and Algorithms","score":0.991100013256073,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7485111951828003},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7428559064865112},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6158121228218079},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.5819498300552368},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5252366065979004},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.47269466519355774},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.441747784614563},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4404427111148834},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14416342973709106}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7485111951828003},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7428559064865112},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6158121228218079},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.5819498300552368},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5252366065979004},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.47269466519355774},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.441747784614563},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4404427111148834},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14416342973709106},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5980191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980191","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1485515110","https://openalex.org/W1502922572","https://openalex.org/W1508593116","https://openalex.org/W1510073064","https://openalex.org/W1746819321","https://openalex.org/W1755117326","https://openalex.org/W1966948790","https://openalex.org/W1975588358","https://openalex.org/W1976606095","https://openalex.org/W2007864935","https://openalex.org/W2010315317","https://openalex.org/W2037495825","https://openalex.org/W2047028564","https://openalex.org/W2105499448","https://openalex.org/W2144902422","https://openalex.org/W2153290280","https://openalex.org/W2170519810","https://openalex.org/W2532798880","https://openalex.org/W2539838946","https://openalex.org/W2610805269","https://openalex.org/W4234698323","https://openalex.org/W4236121069","https://openalex.org/W4239240501","https://openalex.org/W4253577938","https://openalex.org/W4285719527","https://openalex.org/W4302564868","https://openalex.org/W6629104023","https://openalex.org/W6637962894","https://openalex.org/W6681302627"],"related_works":["https://openalex.org/W3013085049","https://openalex.org/W1560496689","https://openalex.org/W1992739770","https://openalex.org/W4386900933","https://openalex.org/W4229058035","https://openalex.org/W3125672081","https://openalex.org/W2006389905","https://openalex.org/W4297797135","https://openalex.org/W2904666330","https://openalex.org/W400207537"],"abstract_inverted_index":{"Analytical":[0],"models":[1],"for":[2,37],"robot":[3,39],"dynamics":[4],"often":[5],"perform":[6],"suboptimally":[7],"in":[8,81,100],"practice,":[9],"due":[10],"to":[11,29],"various":[12],"non-linearities":[13],"and":[14,32,57,89],"the":[15,20,71,86,93],"difficulty":[16],"of":[17,92],"accurately":[18,74],"estimating":[19],"dynamic":[21],"parameters.":[22],"Machine":[23],"learning":[24,44],"techniques":[25],"are":[26,95],"less":[27],"sensitive":[28],"these":[30],"problems":[31],"therefore":[33,97],"an":[34,58],"interesting":[35],"alternative":[36],"modeling":[38],"dynamics.":[40],"We":[41],"propose":[42],"a":[43,48,53],"method":[45,72,94],"that":[46,70],"combines":[47],"least":[49],"squares":[50],"algorithm":[51],"with":[52],"non-linear":[54],"feature":[55],"mapping":[56],"efficient":[59],"update":[60,87],"rule.":[61],"Using":[62],"data":[63],"from":[64],"five":[65],"different":[66],"robots,":[67],"we":[68],"show":[69],"can":[73],"model":[75],"manipulator":[76],"dynamics,":[77],"either":[78],"when":[79],"trained":[80],"batch":[82],"or":[83],"incrementally.":[84],"Furthermore,":[85],"time":[88],"memory":[90],"usage":[91],"bounded,":[96],"allowing":[98],"use":[99],"real-time":[101],"control":[102],"loops.":[103]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":4},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}