{"id":"https://openalex.org/W2161677804","doi":"https://doi.org/10.1109/icra.2013.6631170","title":"Evolutionary co-optimization of control and system parameters for a resonating robot arm","display_name":"Evolutionary co-optimization of control and system parameters for a resonating robot arm","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2161677804","doi":"https://doi.org/10.1109/icra.2013.6631170","mag":"2161677804"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6631170","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631170","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5061726038","display_name":"Jurren Pen","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Jurren Pen","raw_affiliation_strings":["Delft Center for Systems and Control, Delft University of Technology, Delft, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft Center for Systems and Control, Delft University of Technology, Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009958441","display_name":"Wouter Caarls","orcid":"https://orcid.org/0000-0001-9069-2378"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Wouter Caarls","raw_affiliation_strings":["Delft Biorobotics Laboratory, Delft University of Technology, Delft, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft Biorobotics Laboratory, Delft University of Technology, Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012384272","display_name":"Martijn Wisse","orcid":"https://orcid.org/0000-0001-8210-7562"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Martijn Wisse","raw_affiliation_strings":["Delft Biorobotics Laboratory, Delft University of Technology, Delft, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft Biorobotics Laboratory, Delft University of Technology, Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084264842","display_name":"Robert Babu\u0161ka","orcid":"https://orcid.org/0000-0001-9578-8598"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Robert Babuska","raw_affiliation_strings":["Delft Center for Systems and Control, Delft University of Technology, Delft, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft Center for Systems and Control, Delft University of Technology, Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"9","issue":null,"first_page":"4195","last_page":"4202"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9986000061035156,"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9986000061035156,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9907000064849854,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9896000027656555,"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/robotic-arm","display_name":"Robotic arm","score":0.6698125600814819},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6690648198127747},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6676065921783447},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5573463439941406},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5539186596870422},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5329675674438477},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5226247906684875},{"id":"https://openalex.org/keywords/evolutionary-algorithm","display_name":"Evolutionary algorithm","score":0.5129132270812988},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48619168996810913},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.45944157242774963},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4552208483219147},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.45428088307380676},{"id":"https://openalex.org/keywords/evolutionary-computation","display_name":"Evolutionary computation","score":0.4156171977519989},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40925654768943787},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32114434242248535},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29987990856170654},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19264820218086243},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08932557702064514}],"concepts":[{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6698125600814819},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6690648198127747},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6676065921783447},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5573463439941406},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5539186596870422},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5329675674438477},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5226247906684875},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.5129132270812988},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48619168996810913},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.45944157242774963},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4552208483219147},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.45428088307380676},{"id":"https://openalex.org/C105902424","wikidata":"https://www.wikidata.org/wiki/Q1197129","display_name":"Evolutionary computation","level":2,"score":0.4156171977519989},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40925654768943787},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32114434242248535},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29987990856170654},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19264820218086243},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08932557702064514},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2013.6631170","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631170","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W619776839","https://openalex.org/W1479971399","https://openalex.org/W1585847820","https://openalex.org/W1879974976","https://openalex.org/W2052921756","https://openalex.org/W2079325629","https://openalex.org/W2104128408","https://openalex.org/W2127197749","https://openalex.org/W2143956139","https://openalex.org/W2148067905","https://openalex.org/W2149871187","https://openalex.org/W2997026295","https://openalex.org/W6639634688","https://openalex.org/W6681804199"],"related_works":["https://openalex.org/W4297582752","https://openalex.org/W4285805405","https://openalex.org/W2391924736","https://openalex.org/W3133779647","https://openalex.org/W1560122427","https://openalex.org/W3041827036","https://openalex.org/W1993493607","https://openalex.org/W2021957875","https://openalex.org/W2802808995","https://openalex.org/W2787833928"],"abstract_inverted_index":{"In":[0,128],"this":[1],"paper":[2],"we":[3,78],"simultaneously":[4],"optimize":[5,83],"the":[6,9,16,35,50,63,68,72,76,84,114,122,125],"parameters":[7,17],"describing":[8],"morphology":[10],"of":[11,18,25,62,67,71,104,121,130],"a":[12,26,41,88,101,118,131],"robot":[13,28,64],"arm":[14,29,37],"and":[15,60,75,124],"its":[19],"nonlinear":[20,42],"controller.":[21],"A":[22],"novel":[23],"concept":[24],"pick-and-place":[27,47],"is":[30,33],"considered,":[31],"which":[32,108],"called":[34],"resonating":[36],"(RA).":[38],"It":[39],"uses":[40],"spring":[43,73],"mechanism":[44,74],"to":[45,82],"generate":[46],"motions":[48],"without":[49],"need":[51],"for":[52,100],"powerful":[53],"actuators.":[54],"This":[55],"improves":[56],"energy":[57],"efficiency,":[58],"cost":[59],"weight":[61],"arm.":[65],"Because":[66],"complex":[69],"interactions":[70],"controller,":[77],"use":[79],"evolutionary":[80,94,134],"co-optimization":[81,95,135],"RA":[85],"system":[86,123],"as":[87,140],"whole.":[89],"The":[90],"results":[91],"reveal":[92],"that":[93],"yields":[96],"near":[97],"optimal":[98],"solutions":[99,139],"1":[102],"degree":[103],"freedom":[105],"(1-DOF)":[106],"RA,":[107,133],"require":[109],"43%":[110],"less":[111,144],"torque":[112],"than":[113],"solution":[115],"found":[116],"through":[117],"separate":[119],"optimization":[120],"control":[126],"parameters.":[127],"case":[129],"2-DOF":[132],"resulted":[136],"in":[137],"credible":[138],"well,":[141],"but":[142],"with":[143],"consistency.":[145]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}