{"id":"https://openalex.org/W4413917049","doi":"https://doi.org/10.1109/icra55743.2025.11128054","title":"A Novel Hybrid Hysteresis Modeling Method for Multiloop-Asymmetry Hysteresis Behavior of Nonlinear Compliant Actuators","display_name":"A Novel Hybrid Hysteresis Modeling Method for Multiloop-Asymmetry Hysteresis Behavior of Nonlinear Compliant Actuators","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413917049","doi":"https://doi.org/10.1109/icra55743.2025.11128054"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128054","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128054","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5018105722","display_name":"Libo Zhou","orcid":"https://orcid.org/0000-0002-4784-7378"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Libo Zhou","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology,Hangzhou,China,310023"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology,Hangzhou,China,310023","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056342204","display_name":"Long Xu","orcid":"https://orcid.org/0000-0002-3243-4087"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingpeng Xu","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology,Hangzhou,China,310023"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology,Hangzhou,China,310023","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101893353","display_name":"Linlin Ou","orcid":"https://orcid.org/0000-0002-8589-9961"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linlin Ou","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology,Hangzhou,China,310023"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology,Hangzhou,China,310023","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062400907","display_name":"Xinyi Yu","orcid":"https://orcid.org/0000-0001-8716-7687"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyi Yu","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology,Hangzhou,China,310023"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology,Hangzhou,China,310023","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yalei Feng","orcid":null},"institutions":[{"id":"https://openalex.org/I4210093653","display_name":"Midea Group (China)","ror":"https://ror.org/006fm2278","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210093653"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yalei Feng","raw_affiliation_strings":["Midea Group,State Key Laboratory of High-end Heavy-load Robots,Foshan,China,528311"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Midea Group,State Key Laboratory of High-end Heavy-load Robots,Foshan,China,528311","institution_ids":["https://openalex.org/I4210093653"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033529424","display_name":"Shaoping Bai","orcid":"https://orcid.org/0000-0001-5882-9768"},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Shaoping Bai","raw_affiliation_strings":["Aalborg University,Department of Materials and Production,Aalborg,Denmark,9220"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aalborg University,Department of Materials and Production,Aalborg,Denmark,9220","institution_ids":["https://openalex.org/I891191580"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.24612261,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"16606","last_page":"16612"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9994999766349792,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9994999766349792,"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/T11222","display_name":"Magnetic Properties and Applications","score":0.9909999966621399,"subfield":{"id":"https://openalex.org/subfields/2504","display_name":"Electronic, Optical and Magnetic Materials"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11096","display_name":"Aeroelasticity and Vibration Control","score":0.9769999980926514,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/hysteresis","display_name":"Hysteresis","score":0.8676564693450928},{"id":"https://openalex.org/keywords/asymmetry","display_name":"Asymmetry","score":0.7190099954605103},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6888307332992554},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6844283938407898},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5305023193359375},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.42948710918426514},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3392890691757202},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18287143111228943},{"id":"https://openalex.org/keywords/condensed-matter-physics","display_name":"Condensed matter physics","score":0.11469841003417969},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1097964346408844}],"concepts":[{"id":"https://openalex.org/C123299182","wikidata":"https://www.wikidata.org/wiki/Q190837","display_name":"Hysteresis","level":2,"score":0.8676564693450928},{"id":"https://openalex.org/C38976095","wikidata":"https://www.wikidata.org/wiki/Q752641","display_name":"Asymmetry","level":2,"score":0.7190099954605103},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6888307332992554},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6844283938407898},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5305023193359375},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.42948710918426514},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3392890691757202},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18287143111228943},{"id":"https://openalex.org/C26873012","wikidata":"https://www.wikidata.org/wiki/Q214781","display_name":"Condensed matter physics","level":1,"score":0.11469841003417969},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1097964346408844},{"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/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra55743.2025.11128054","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128054","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:publications/11c751b8-ecb8-4487-993e-2e381bbd88c7","is_oa":false,"landing_page_url":"https://vbn.aau.dk/da/publications/11c751b8-ecb8-4487-993e-2e381bbd88c7","pdf_url":null,"source":{"id":"https://openalex.org/S4306401731","display_name":"VBN Forskningsportal (Aalborg Universitet)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I891191580","host_organization_name":"Aalborg University","host_organization_lineage":["https://openalex.org/I891191580"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Zhou, L, Xu, L, Ou, L, Yu, X, Feng, Y & Bai, S 2025, A Novel Hybrid Hysteresis Modeling Method for Multiloop-Asymmetry Hysteresis Behavior of Nonlinear Compliant Actuators. in 2025 IEEE International Conference on Robotics and Automation (ICRA). IEEE (Institute of Electrical and Electronics Engineers), pp. 16606-16612, 2025 IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, United States, 19/05/2025. https://doi.org/10.1109/ICRA55743.2025.11128054","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G192181069","display_name":null,"funder_award_id":"2023YFB4705100","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G3599405636","display_name":null,"funder_award_id":"62303415,62373329","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1914995744","https://openalex.org/W1969960357","https://openalex.org/W2001992881","https://openalex.org/W2023979769","https://openalex.org/W2062236415","https://openalex.org/W2124852832","https://openalex.org/W2290587551","https://openalex.org/W2801516068","https://openalex.org/W2904326353","https://openalex.org/W2921823484","https://openalex.org/W2937206629","https://openalex.org/W2980660533","https://openalex.org/W3015725301","https://openalex.org/W3097266481","https://openalex.org/W3106278031","https://openalex.org/W3197773740","https://openalex.org/W3205008666","https://openalex.org/W3205939515","https://openalex.org/W3209415227","https://openalex.org/W4226342812","https://openalex.org/W4290566160","https://openalex.org/W4293117613","https://openalex.org/W4296079215","https://openalex.org/W4308970278","https://openalex.org/W4327972786","https://openalex.org/W4382007658","https://openalex.org/W4385416532","https://openalex.org/W4388077077","https://openalex.org/W4391070168","https://openalex.org/W4392560461"],"related_works":["https://openalex.org/W1980563100","https://openalex.org/W1644661642","https://openalex.org/W4297670902","https://openalex.org/W2035154026","https://openalex.org/W2065779551","https://openalex.org/W2050217822","https://openalex.org/W3102935140","https://openalex.org/W2001403916","https://openalex.org/W2064827254","https://openalex.org/W1774647552"],"abstract_inverted_index":{"Nonlinear":[0],"compliant":[1,106],"actuators":[2],"are":[3,42,65],"being":[4],"increasingly":[5],"used":[6],"in":[7,60],"human-robot":[8],"interaction":[9],"scenarios":[10],"due":[11],"to":[12,44,89],"their":[13],"inherent":[14],"flexibility.":[15],"However,":[16],"a":[17,56,104],"limitation":[18],"is":[19,34,86],"that":[20,112],"nonlinear":[21,68,92,105],"hysteresis":[22,33,63,73,77,97,118,129],"exists,":[23],"which":[24,61],"will":[25],"degrade":[26],"the":[27,32,39,47,62,91,109,113,117,126],"force/torque":[28],"tracking":[29],"performance":[30],"if":[31],"not":[35],"modeled":[36],"accurately.":[37],"Moreover,":[38],"existing":[40],"methods":[41],"difficult":[43],"deal":[45],"with":[46,125],"multi-loop":[48],"asymmetry":[49],"hysteresis.":[50],"In":[51],"this":[52],"work,":[53],"we":[54],"present":[55],"novel":[57],"modeling":[58],"method,":[59],"curves":[64],"decoupled":[66],"into":[67],"reference":[69,93],"lines":[70,94],"and":[71,83,95,108],"symmetrical":[72,96],"loops.":[74],"A":[75],"hybrid":[76],"model":[78,85,119],"based":[79,128],"on":[80,103],"power":[81],"function":[82],"Maxwellslip":[84,127],"then":[87],"developed":[88],"fit":[90],"loops":[98],"respectively.":[99],"Experiments":[100],"were":[101],"conducted":[102],"actuator":[107],"results":[110],"show":[111],"root-mean-square-errors":[114],"(RMSE)":[115],"of":[116],"decreases":[120],"by":[121],"24.4%":[122],"when":[123],"compared":[124],"model.":[130]},"counts_by_year":[],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
