{"id":"https://openalex.org/W2738756566","doi":"https://doi.org/10.1109/icra.2017.7989142","title":"Interactive, iterative robot design","display_name":"Interactive, iterative robot design","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2738756566","doi":"https://doi.org/10.1109/icra.2017.7989142","mag":"2738756566"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989142","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989142","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","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/A5007183661","display_name":"Bradley Canaday","orcid":null},"institutions":[{"id":"https://openalex.org/I193531525","display_name":"George Washington University","ror":"https://ror.org/00y4zzh67","country_code":"US","type":"education","lineage":["https://openalex.org/I193531525"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Bradley Canaday","raw_affiliation_strings":["Undergraduate researcher at the Computer Science Dept, George Washington University, Washington DC, USA"],"affiliations":[{"raw_affiliation_string":"Undergraduate researcher at the Computer Science Dept, George Washington University, Washington DC, USA","institution_ids":["https://openalex.org/I193531525"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066733413","display_name":"Samuel Zapolsky","orcid":null},"institutions":[{"id":"https://openalex.org/I193531525","display_name":"George Washington University","ror":"https://ror.org/00y4zzh67","country_code":"US","type":"education","lineage":["https://openalex.org/I193531525"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Samuel Zapolsky","raw_affiliation_strings":["Ph.D. student at the Computer Science Dept, George Washington University, Washington DC, USA"],"affiliations":[{"raw_affiliation_string":"Ph.D. student at the Computer Science Dept, George Washington University, Washington DC, USA","institution_ids":["https://openalex.org/I193531525"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049448053","display_name":"Evan Drumwright","orcid":null},"institutions":[{"id":"https://openalex.org/I193531525","display_name":"George Washington University","ror":"https://ror.org/00y4zzh67","country_code":"US","type":"education","lineage":["https://openalex.org/I193531525"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Evan Drumwright","raw_affiliation_strings":["Faculty in the Computer Science Dept, George Washington University, Washington DC, USA"],"affiliations":[{"raw_affiliation_string":"Faculty in the Computer Science Dept, George Washington University, Washington DC, USA","institution_ids":["https://openalex.org/I193531525"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5007183661"],"corresponding_institution_ids":["https://openalex.org/I193531525"],"apc_list":null,"apc_paid":null,"fwci":0.6035,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.6907047,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1188","last_page":"1195"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9988999962806702,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9988999962806702,"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":0.998199999332428,"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":0.998199999332428,"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/robot","display_name":"Robot","score":0.7267410159111023},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6452336311340332},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.4965227246284485},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4929487705230713},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4265040159225464},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4253149926662445},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42454689741134644},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.423597514629364},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39830702543258667},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38101062178611755},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3525891900062561},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.34231042861938477},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2848832607269287},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.223556786775589},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16917747259140015}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7267410159111023},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6452336311340332},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.4965227246284485},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4929487705230713},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4265040159225464},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4253149926662445},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42454689741134644},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.423597514629364},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39830702543258667},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38101062178611755},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3525891900062561},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.34231042861938477},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2848832607269287},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.223556786775589},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16917747259140015},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2017.7989142","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989142","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W651117694","https://openalex.org/W990093006","https://openalex.org/W1525400443","https://openalex.org/W1553636676","https://openalex.org/W1557098279","https://openalex.org/W1562336775","https://openalex.org/W1820253397","https://openalex.org/W1977735758","https://openalex.org/W1991287313","https://openalex.org/W2008150460","https://openalex.org/W2028208724","https://openalex.org/W2043709302","https://openalex.org/W2077571245","https://openalex.org/W2085782509","https://openalex.org/W2088373173","https://openalex.org/W2094444216","https://openalex.org/W2110194613","https://openalex.org/W2114006755","https://openalex.org/W2117085697","https://openalex.org/W2154139861","https://openalex.org/W2163862895","https://openalex.org/W2312644716","https://openalex.org/W2551537403"],"related_works":["https://openalex.org/W2761624296","https://openalex.org/W4386994694","https://openalex.org/W4388738109","https://openalex.org/W2362901947","https://openalex.org/W2362086884","https://openalex.org/W2139139490","https://openalex.org/W2517926463","https://openalex.org/W2168918646","https://openalex.org/W2283275227","https://openalex.org/W2655458901"],"abstract_inverted_index":{"Consider":[0],"how":[1,227],"a":[2,9,19,87,111,162,209,224,250],"new":[3],"robot":[4,55,122,130,210,225,251],"is":[5,82,131],"designed.":[6],"Starting":[7],"from":[8],"relative":[10],"size":[11],"(e.g.,":[12],"nanometer,":[13],"centimeter,":[14],"meter),":[15],"the":[16,36,54,70,119,129,139,147,165,180,197,221,230],"roboticist":[17],"picks":[18],"morphological":[20,149,215,256],"type":[21],"(manipulator,":[22],"quadruped,":[23],"biped),":[24],"and":[25,42,73,109,226,244,253],"then":[26,47,67],"uses":[27],"intuition,":[28],"experience,":[29],"biological":[30],"inspiration,":[31],"or":[32,63,190,234],"some":[33],"combination":[34],"of":[35,92,134,146,179,223,262],"three":[37],"to":[38,51,89,156,167,172,200,219,228,232],"select":[39],"kinematic,":[40],"dynamic,":[41],"geometric":[43],"parameters.":[44],"The":[45,65,159],"designer":[46,66,211],"conducts":[48,74],"preliminary":[49],"checks":[50,75],"see":[52],"whether":[53,118],"can":[56,143,248],"satisfy":[57],"its":[58,125,136],"intended":[59,126],"function:":[60],"manipulation,":[61],"locomotion,":[62],"both.":[64],"iteratively":[68,254],"adjusts":[69],"physical":[71],"parameters":[72,150,216,257],"using":[76],"sample":[77],"tasks,":[78],"presumably":[79],"until":[80],"convergence":[81],"reached.":[83],"This":[84],"paper":[85],"describes":[86],"means":[88],"automate":[90],"part":[91],"this":[93],"approach":[94,199],"by":[95],"combining":[96],"interactive":[97,205],"elements":[98],"with":[99],"powerful":[100],"tools":[101],"that":[102,115,207,258],"use":[103,261],"multi-rigid":[104],"body":[105],"simulation.":[106],"We":[107,194,238],"describe":[108],"demonstrate":[110,239],"virtual":[112,140],"testing":[113,141,245],"phase":[114,142],"first":[116],"determines":[117],"physically":[120],"situated":[121],"would":[123],"serve":[124],"purpose.":[127],"If":[128],"not":[132],"capable":[133],"performing":[135],"target":[137],"task,":[138],"determine":[144],"which":[145],"robot's":[148],"should":[151],"be":[152,201],"modified":[153],"in":[154,164],"order":[155],"do":[157],"so.":[158],"process":[160],"keeps":[161],"human":[163],"loop":[166],"help":[168],"account":[169],"for":[170,196],"hard":[171],"quantify":[173],"design":[174,231,252],"aspects":[175],"like":[176],"appearance,":[177],"quirks":[178],"fabrication":[181],"procedure":[182],"(i.e.,":[183],"laser":[184],"cutting,":[185],"milling,":[186],"3D":[187],"printing":[188],"processes),":[189],"even":[191],"expert":[192],"knowledge.":[193],"intend":[195],"described":[198],"used":[202],"as":[203],"an":[204],"tool":[206],"gives":[208],"feedback":[212],"on":[213],"what":[214],"are":[217],"likely":[218],"limit":[220],"performance":[222],"modify":[229],"fix":[233],"offset":[235],"such":[236],"limitations.":[237],"that,":[240],"through":[241],"simulated":[242],"prototyping":[243],"methods,":[246],"we":[247],"improve":[249],"locate":[255],"make":[259],"efficient":[260],"available":[263],"hardware.":[264]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
