{"id":"https://openalex.org/W4386038399","doi":"https://doi.org/10.1109/lra.2023.3307007","title":"A Provably Stable Iterative Learning Controller for Continuum Soft Robots","display_name":"A Provably Stable Iterative Learning Controller for Continuum Soft Robots","publication_year":2023,"publication_date":"2023-08-21","ids":{"openalex":"https://openalex.org/W4386038399","doi":"https://doi.org/10.1109/lra.2023.3307007"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3307007","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3307007","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10225256.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10225256.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064305562","display_name":"Michele Pierallini","orcid":"https://orcid.org/0000-0003-0547-2747"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Michele Pierallini","raw_affiliation_strings":["Centro di Ricerca “Enrico Piaggio” and the Dipartimento di Ingegneria dell'Informazione, Università di Pisa, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Centro di Ricerca “Enrico Piaggio” and the Dipartimento di Ingegneria dell'Informazione, Università di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012482583","display_name":"Francesco Stella","orcid":"https://orcid.org/0000-0002-4724-1886"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Francesco Stella","raw_affiliation_strings":["CREATE Lab, EPFL, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"CREATE Lab, EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047597226","display_name":"Franco Angelini","orcid":"https://orcid.org/0000-0003-2559-9569"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Franco Angelini","raw_affiliation_strings":["Centro di Ricerca “Enrico Piaggio” and the Dipartimento di Ingegneria dell'Informazione, Università di Pisa, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Centro di Ricerca “Enrico Piaggio” and the Dipartimento di Ingegneria dell'Informazione, Università di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044871255","display_name":"Bastian Deutschmann","orcid":"https://orcid.org/0000-0002-9139-5719"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bastian Deutschmann","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032508996","display_name":"Josie Hughes","orcid":"https://orcid.org/0000-0001-8410-3565"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Josie Hughes","raw_affiliation_strings":["CREATE Lab, EPFL, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"CREATE Lab, EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082180334","display_name":"Antonio Bicchi","orcid":"https://orcid.org/0000-0001-8635-5571"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Bicchi","raw_affiliation_strings":["Centro di Ricerca “Enrico Piaggio” and the Dipartimento di Ingegneria dell'Informazione, Università di Pisa, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Centro di Ricerca “Enrico Piaggio” and the Dipartimento di Ingegneria dell'Informazione, Università di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042460018","display_name":"Manolo Garabini","orcid":"https://orcid.org/0000-0002-5873-3173"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manolo Garabini","raw_affiliation_strings":["Centro di Ricerca “Enrico Piaggio” and the Dipartimento di Ingegneria dell'Informazione, Università di Pisa, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Centro di Ricerca “Enrico Piaggio” and the Dipartimento di Ingegneria dell'Informazione, Università di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050239145","display_name":"Cosimo Della Santina","orcid":"https://orcid.org/0000-0003-1067-1134"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]},{"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":["DE","NL"],"is_corresponding":false,"raw_author_name":"Cosimo Della Santina","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen, Germany","Department of Cognitive Robotics, Delft University of Technology, Delft, CN, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, CN, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5064305562"],"corresponding_institution_ids":["https://openalex.org/I1300504238"],"apc_list":null,"apc_paid":null,"fwci":1.5145,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.81100022,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"8","issue":"10","first_page":"6427","last_page":"6434"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9929999709129333,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9811000227928162,"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":0.5678268671035767},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5248653888702393},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.45386576652526855},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44297534227371216},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.43645548820495605},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36388659477233887},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3405918478965759},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07188832759857178},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.06690919399261475}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5678268671035767},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5248653888702393},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.45386576652526855},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44297534227371216},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.43645548820495605},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36388659477233887},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3405918478965759},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07188832759857178},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.06690919399261475},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/lra.2023.3307007","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3307007","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10225256.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:elib.dlr.de:197435","is_oa":true,"landing_page_url":"https://doi.org/10.1109/LRA.2023.3307007>.","pdf_url":"https://elib.dlr.de/197435/1/A_Provably_Stable_Iterative_Learning_Controller_for_Continuum_Soft_Robots.pdf","source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},{"id":"pmh:oai:infoscience.epfl.ch:305903","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/201495","pdf_url":"https://infoscience.epfl.ch/bitstreams/cbe3b32b-fc64-4f66-a244-d59236f951d7/download","source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"WoS","raw_type":"research article"},{"id":"pmh:oai:arpi.unipi.it:11568/1213332","is_oa":true,"landing_page_url":"https://hdl.handle.net/11568/1213332","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:tudelft.nl:uuid:96dff9ca-3aa1-4882-a29d-c232616904c4","is_oa":true,"landing_page_url":"http://resolver.tudelft.nl/uuid:96dff9ca-3aa1-4882-a29d-c232616904c4","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"journal article"},{"id":"pmh:oai:zenodo.org:10057145","is_oa":true,"landing_page_url":"https://doi.org/10.1109/LRA.2023.3307007","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 8(10), 6427-6434, (2023-08-21)","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/lra.2023.3307007","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3307007","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10225256.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1733109337","display_name":null,"funder_award_id":"1062/2021","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G3424478332","display_name":null,"funder_award_id":"101017274","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G3598087732","display_name":null,"funder_award_id":"101070918","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G776759023","display_name":null,"funder_award_id":"Horizon 2020 Research and Innovation Programme und","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8051717526","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8318064016","display_name":null,"funder_award_id":"Horizon","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8620465226","display_name":null,"funder_award_id":"101016970","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320317295","display_name":"Dipartimenti di Eccellenza","ror":null},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4386038399.pdf","grobid_xml":"https://content.openalex.org/works/W4386038399.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1941843239","https://openalex.org/W2560730116","https://openalex.org/W2621263557","https://openalex.org/W2805421438","https://openalex.org/W2901112449","https://openalex.org/W2967429195","https://openalex.org/W2990316883","https://openalex.org/W2998713437","https://openalex.org/W2999072533","https://openalex.org/W3004065651","https://openalex.org/W3012525641","https://openalex.org/W3036541334","https://openalex.org/W3133349997","https://openalex.org/W3142099226","https://openalex.org/W3179364417","https://openalex.org/W3204719635","https://openalex.org/W3211059337","https://openalex.org/W4225141073","https://openalex.org/W4285119184","https://openalex.org/W4286539801","https://openalex.org/W4295743150","https://openalex.org/W4296354547","https://openalex.org/W4313639260","https://openalex.org/W4317796297","https://openalex.org/W4318778510","https://openalex.org/W4376605563"],"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/W1606071314","https://openalex.org/W2350210972","https://openalex.org/W2369126164","https://openalex.org/W1482785882","https://openalex.org/W2376218423"],"abstract_inverted_index":{"Fully":[0],"exploiting":[1],"soft":[2,48,93],"robots'":[3],"capabilities":[4],"requires":[5],"devising":[6],"strategies":[7],"that":[8,67],"can":[9],"accurately":[10],"control":[11,19,43,65],"their":[12,97],"movements":[13],"with":[14,112],"the":[15,29,32,36,47,69,75,78,106,109,119,132],"limited":[16],"amount":[17],"of":[18,38,77,92,108,134],"sources":[20],"available.":[21],"This":[22],"task":[23],"is":[24],"challenging":[25],"for":[26],"reasons":[27],"including":[28],"hard-to-model":[30],"dynamics,":[31],"system's":[33],"underactuation,":[34],"and":[35,49,80,103,124,130,137],"need":[37],"using":[39],"a":[40,60,88],"prominent":[41],"feedforward":[42,62],"action":[44,71],"to":[45],"preserve":[46],"safe":[50],"robot":[51],"behavior.":[52],"To":[53],"tackle":[54],"this":[55,57],"challenge,":[56],"letter":[58],"proposes":[59],"purely":[61],"iterative":[63],"learning":[64],"algorithm":[66],"refines":[68],"torque":[70],"by":[72],"leveraging":[73],"both":[74],"knowledge":[76],"model":[79,138],"data":[81],"obtained":[82],"from":[83],"past":[84],"experience.":[85],"After":[86],"presenting":[87],"3D":[89],"polynomial":[90],"description":[91],"robots,":[94],"we":[95,104,117],"study":[96],"intrinsic":[98],"properties,":[99],"e.g.,":[100],"input-to-state":[101],"stability,":[102],"prove":[105],"convergence":[107],"controller":[110],"coping":[111],"locally":[113],"Lipschitz":[114],"nonlinearities.":[115],"Finally,":[116],"validate":[118],"proposed":[120],"approach":[121],"through":[122],"simulations":[123],"experiments":[125],"involving":[126],"multiple":[127],"systems,":[128],"trajectories,":[129],"in":[131],"case":[133],"external":[135],"disturbances":[136],"mismatches.":[139]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":7}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}