{"id":"https://openalex.org/W2207366450","doi":"https://doi.org/10.1109/iros.2015.7353955","title":"The effect of the choice of feedforward controllers on the accuracy of low gain controlled robots","display_name":"The effect of the choice of feedforward controllers on the accuracy of low gain controlled robots","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2207366450","doi":"https://doi.org/10.1109/iros.2015.7353955","mag":"2207366450"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353955","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353955","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5023472355","display_name":"Michiel Plooij","orcid":"https://orcid.org/0000-0002-6519-6062"},"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":"Michiel Plooij","raw_affiliation_strings":["Delft University of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft University of Technology","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052265126","display_name":"Wouter Wolfslag","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":"Wouter Wolfslag","raw_affiliation_strings":["Delft University of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft University of Technology","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","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 University of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft University of Technology","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":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"6","issue":null,"first_page":"4090","last_page":"4097"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9909999966621399,"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/feed-forward","display_name":"Feed forward","score":0.9141482710838318},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8324804306030273},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7023462653160095},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6650747656822205},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.615400493144989},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5107319355010986},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.46662911772727966},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4662992060184479},{"id":"https://openalex.org/keywords/sensitivity","display_name":"Sensitivity (control systems)","score":0.41955065727233887},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3220010995864868},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26377254724502563},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2579672932624817},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19481021165847778}],"concepts":[{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.9141482710838318},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8324804306030273},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7023462653160095},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6650747656822205},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.615400493144989},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5107319355010986},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.46662911772727966},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4662992060184479},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.41955065727233887},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3220010995864868},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26377254724502563},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2579672932624817},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19481021165847778},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7353955","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353955","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321800","display_name":"Nederlandse Organisatie voor Wetenschappelijk Onderzoek","ror":"https://ror.org/04jsz6e67"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W204073942","https://openalex.org/W1601803999","https://openalex.org/W1608101987","https://openalex.org/W1789466516","https://openalex.org/W1885639605","https://openalex.org/W1892385946","https://openalex.org/W1956636948","https://openalex.org/W1970989845","https://openalex.org/W1980440818","https://openalex.org/W1984331895","https://openalex.org/W1993991791","https://openalex.org/W1995409582","https://openalex.org/W1999185377","https://openalex.org/W2004162992","https://openalex.org/W2007299777","https://openalex.org/W2017932718","https://openalex.org/W2037587247","https://openalex.org/W2052014474","https://openalex.org/W2052921756","https://openalex.org/W2064527819","https://openalex.org/W2084145388","https://openalex.org/W2091845343","https://openalex.org/W2114414717","https://openalex.org/W2153763008","https://openalex.org/W2156481835","https://openalex.org/W2163668399","https://openalex.org/W2642047888","https://openalex.org/W7075363699"],"related_works":["https://openalex.org/W4385832323","https://openalex.org/W2356996864","https://openalex.org/W4244391535","https://openalex.org/W2015393961","https://openalex.org/W2904060783","https://openalex.org/W2378339670","https://openalex.org/W2018658498","https://openalex.org/W2359353485","https://openalex.org/W2139910871","https://openalex.org/W2361427670"],"abstract_inverted_index":{"High":[0],"feedback":[1,23,113],"gains":[2,114],"cannot":[3],"be":[4,180],"used":[5],"on":[6,97,126],"all":[7,112],"robots":[8,26,49],"due":[9],"to":[10,140,144],"sensor":[11],"noise,":[12],"time":[13],"delays":[14],"or":[15,153,173],"interaction":[16],"with":[17,21],"humans.":[18],"The":[19,107],"problem":[20],"low":[22,154],"gain":[24],"controlled":[25,48],"is":[27,35,81,171],"that":[28,83,110,167,170],"the":[29,32,58,65,76,85,104,117,120,127,130,176],"accuracy":[30,86,128],"of":[31,46,129,148],"task":[33],"execution":[34],"potentially":[36],"low.":[37],"In":[38],"this":[39,95],"paper":[40],"we":[41,56,115],"investigate":[42],"if":[43],"trajectory":[44,60,121,169],"optimization":[45],"feedback-feedforward":[47],"improves":[50],"their":[51],"accuracy.":[52,70],"For":[53],"rest-to-rest":[54],"motions,":[55],"find":[57],"optimal":[59],"indirectly":[61],"by":[62],"numerically":[63],"optimizing":[64],"corresponding":[66],"feedforward":[67,149,158],"controller":[68],"for":[69,111,119],"A":[71],"new":[72],"performance":[73],"measure":[74],"called":[75],"Manipulation":[77],"Sensitivity":[78],"Norm":[79],"(MSN)":[80],"introduced":[82],"determines":[84],"under":[87],"most":[88],"disturbances":[89],"and":[90],"modeling":[91],"errors.":[92],"We":[93],"tested":[94],"method":[96],"a":[98,123,168],"two":[99],"DOF":[100],"robotic":[101],"arm":[102,131],"in":[103],"horizontal":[105],"plane.":[106],"results":[108],"show":[109],"tested,":[116],"choice":[118],"has":[122],"significant":[124],"influence":[125],"(viz.":[132],"position":[133,178],"errors":[134],"being":[135],"reduced":[136],"from":[137,163],"2.5":[138],"cm":[139],"0.3":[141],"cm).":[142],"Moreover,":[143],"study":[145],"which":[146],"features":[147],"controllers":[150,159],"cause":[151],"high":[152],"accuracy,":[155],"four":[156],"more":[157],"were":[160],"tested.":[161],"Results":[162],"those":[164],"experiments":[165],"indicate":[166],"smooth":[172],"quickly":[174],"approaches":[175],"goal":[177],"will":[179],"accurate.":[181]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}