{"id":"https://openalex.org/W2737577120","doi":"https://doi.org/10.1109/icra.2017.7989723","title":"Estimating inertial parameters of suspended cable-driven parallel robots \u2014 Use case on CoGiRo","display_name":"Estimating inertial parameters of suspended cable-driven parallel robots \u2014 Use case on CoGiRo","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2737577120","doi":"https://doi.org/10.1109/icra.2017.7989723","mag":"2737577120"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989723","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989723","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/A5062901916","display_name":"Philipp Tempel","orcid":"https://orcid.org/0000-0003-2424-2007"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Philipp Tempel","raw_affiliation_strings":["Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW), University of Stuttgart, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW), University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031828740","display_name":"Pierre-Elie Herv\u00e9","orcid":"https://orcid.org/0000-0003-0289-7379"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pierre-Elie Herve","raw_affiliation_strings":["Tecnalia France, Batiment 6- Centre Spatial Uni-versitaire Montpellier-N\u00eemes, Montpellier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tecnalia France, Batiment 6- Centre Spatial Uni-versitaire Montpellier-N\u00eemes, Montpellier, France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034292904","display_name":"Olivier Tempier","orcid":null},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Olivier Tempier","raw_affiliation_strings":["Laboratoire d'Informatique, de Robotique et de Micro\u00e8lectronique de Montpellier, UM - CNRS, Montpellier cedex 5, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire d'Informatique, de Robotique et de Micro\u00e8lectronique de Montpellier, UM - CNRS, Montpellier cedex 5, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210101743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073030051","display_name":"Marc Gouttefarde","orcid":"https://orcid.org/0000-0002-4369-6867"},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Marc Gouttefarde","raw_affiliation_strings":["Laboratoire d'Informatique, de Robotique et de Micro\u00e8lectronique de Montpellier, UM - CNRS, Montpellier cedex 5, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire d'Informatique, de Robotique et de Micro\u00e8lectronique de Montpellier, UM - CNRS, Montpellier cedex 5, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210101743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067767740","display_name":"Andreas Pott","orcid":"https://orcid.org/0000-0002-4031-6363"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas Pott","raw_affiliation_strings":["Universitat Stuttgart, Stuttgart, Baden-W\u00c3\u00bcrttemberg, DE","Universitat Stuttgart, Stuttgart, Baden-W\u00fcrttemberg, DE"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universitat Stuttgart, Stuttgart, Baden-W\u00c3\u00bcrttemberg, DE","institution_ids":[]},{"raw_affiliation_string":"Universitat Stuttgart, Stuttgart, Baden-W\u00fcrttemberg, DE","institution_ids":["https://openalex.org/I100066346"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5062901916"],"corresponding_institution_ids":["https://openalex.org/I100066346"],"apc_list":null,"apc_paid":null,"fwci":1.4284,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.82737961,"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":"6093","last_page":"6098"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9944000244140625,"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/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.796494722366333},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.7726559638977051},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7208839654922485},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6280019879341125},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5915826559066772},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5700048208236694},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.49303361773490906},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.48500868678092957},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.4493992328643799},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39498990774154663},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36334705352783203},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2620622515678406},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.18678796291351318},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17248079180717468},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1483861207962036},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14480116963386536},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.11142879724502563}],"concepts":[{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.796494722366333},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.7726559638977051},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7208839654922485},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6280019879341125},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5915826559066772},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5700048208236694},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.49303361773490906},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.48500868678092957},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.4493992328643799},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39498990774154663},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36334705352783203},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2620622515678406},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.18678796291351318},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17248079180717468},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1483861207962036},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14480116963386536},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.11142879724502563},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2017.7989723","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989723","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"},{"id":"pmh:oai:HAL:lirmm-01830274v1","is_oa":false,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-01830274","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.icra2017.org","raw_type":"Conference papers"},{"id":"pmh:oai:dsp.tecnalia.com:11556/8308","is_oa":false,"landing_page_url":"https://hdl.handle.net/11556/8308","pdf_url":null,"source":{"id":"https://openalex.org/S4306402037","display_name":"TECNALIA Publications (Fundaci\u00f3n TECNALIA Research & Innovation)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210113430","host_organization_name":"Tecnalia","host_organization_lineage":["https://openalex.org/I4210113430"],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference output"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W32277538","https://openalex.org/W37247277","https://openalex.org/W618254468","https://openalex.org/W999936232","https://openalex.org/W1526823752","https://openalex.org/W1547606797","https://openalex.org/W1968739377","https://openalex.org/W2016205356","https://openalex.org/W2026862303","https://openalex.org/W2058752945","https://openalex.org/W2060187980","https://openalex.org/W2076210108","https://openalex.org/W2078856056","https://openalex.org/W2123020227","https://openalex.org/W2144925535","https://openalex.org/W2165970609","https://openalex.org/W2271463894","https://openalex.org/W3023141614","https://openalex.org/W4205613797","https://openalex.org/W6631454000","https://openalex.org/W6678327843"],"related_works":["https://openalex.org/W2765080098","https://openalex.org/W2385749422","https://openalex.org/W2355290145","https://openalex.org/W2353465659","https://openalex.org/W2009888974","https://openalex.org/W2145154791","https://openalex.org/W2361688797","https://openalex.org/W2973099332","https://openalex.org/W625831653","https://openalex.org/W2737577120"],"abstract_inverted_index":{"Model":[0],"based":[1],"open-loop":[2],"and":[3,43,61,138,148],"closed-loop":[4],"control":[5],"systems":[6],"make":[7],"use":[8],"of":[9,17,73,93,97,117,119,131,145],"the":[10,74,91,104,132,143,146,159],"system's":[11],"inertial":[12,35,75,94,133],"parameters.":[13],"Unfortunately,":[14],"not":[15],"all":[16],"these":[18],"values":[19],"can":[20,25],"be":[21,27],"determined":[22],"analytically":[23],"nor":[24],"they":[26],"obtained":[28],"from":[29,114],"simple":[30],"measurements.":[31],"Established":[32],"experiments":[33,128],"for":[34,129,161],"parameters":[36,76,134],"estimation":[37],"have":[38,154],"been":[39,155],"applied":[40],"to":[41,52,57,70,80,124],"serial":[42],"parallel":[44,54,99,107,164],"rigid-link":[45],"manipulators,":[46],"yet":[47],"in":[48],"very":[49],"few":[50],"cases":[51],"cable-driven":[53,106,163],"robots.":[55,165],"Due":[56],"their":[58,62],"kinematic":[59],"properties":[60],"unique":[63],"setup,":[64],"cable":[65],"robots":[66],"are":[67,112,135,140],"more":[68],"sensitive":[69],"incorrect":[71],"estimates":[72],"making":[77],"it":[78],"important":[79],"obtain":[81],"such":[82],"quantities":[83],"through":[84],"experiments.":[85],"In":[86],"this":[87],"work,":[88],"we":[89],"assess":[90],"topic":[92],"parameter":[95],"identification":[96,130],"a":[98,125],"flexible-link":[100],"manipulator":[101],"exemplified":[102],"by":[103],"suspended":[105,162],"robot":[108],"CoGIRo.":[109],"Identification":[110],"equations":[111,116],"derived":[113],"Newton-Euler":[115],"motion":[118],"an":[120],"arbitrary":[121],"point":[122],"fixed":[123],"rigid-body.":[126],"Laboratory":[127],"then":[136],"introduced":[137],"results":[139,153],"presented.":[141],"Within":[142],"limitations":[144],"sensors":[147],"data":[149],"acquisition":[150],"methods,":[151],"reasonable":[152],"obtained,":[156],"thereby":[157],"validating":[158],"procedure":[160]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1}],"updated_date":"2026-05-07T13:39:58.223016","created_date":"2025-10-10T00:00:00"}