{"id":"https://openalex.org/W4410027497","doi":"https://doi.org/10.1109/lra.2025.3566621","title":"Active Learning for Exciting Motion Generation With Safety Constraint: Toward Reducing Model-Reality Gap in Inertial Parameters","display_name":"Active Learning for Exciting Motion Generation With Safety Constraint: Toward Reducing Model-Reality Gap in Inertial Parameters","publication_year":2025,"publication_date":"2025-05-02","ids":{"openalex":"https://openalex.org/W4410027497","doi":"https://doi.org/10.1109/lra.2025.3566621"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3566621","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3566621","pdf_url":null,"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5088959041","display_name":"Kenya Mori","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenya Mori","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Tokyo, Bunkyo-ku, Japan","Department of Mechanical Engineering, The University of Tokyo, Bunkyo-ku, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0009-0000-3858-7327","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Tokyo, Bunkyo-ku, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081057425","display_name":"Ko Ayusawa","orcid":"https://orcid.org/0000-0001-8188-4204"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ko Ayusawa","raw_affiliation_strings":["Research Institute on Human and Societal Augmentation, National Institute of Advanced Industrial Science and Technology (AIST), Chiba, Japan","CNRS-AIST JRL (Joint Robotics Laboratory), Ibaraki, Japan"],"raw_orcid":"https://orcid.org/0000-0001-8188-4204","affiliations":[{"raw_affiliation_string":"Research Institute on Human and Societal Augmentation, National Institute of Advanced Industrial Science and Technology (AIST), Chiba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), Ibaraki, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076587308","display_name":"Gentiane Venture","orcid":"https://orcid.org/0000-0001-7767-4765"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gentiane Venture","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Tokyo, Bunkyo-ku, Japan","Department of Mechanical Engineering, The University of Tokyo, Bunkyo-ku, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0001-7767-4765","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Tokyo, Bunkyo-ku, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"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":0.08616491,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"6","first_page":"6344","last_page":"6351"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9546999931335449,"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":0.9546999931335449,"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/T13682","display_name":"Engineering Education and Pedagogy","score":0.9470999836921692,"subfield":{"id":"https://openalex.org/subfields/2216","display_name":"Architecture"},"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":0.919700026512146,"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":0.5993660688400269},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5947487354278564},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5278658270835876},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48355361819267273},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2765680253505707},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24444296956062317},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2245481014251709},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1940259337425232},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.12927526235580444}],"concepts":[{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5993660688400269},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5947487354278564},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5278658270835876},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48355361819267273},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2765680253505707},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24444296956062317},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2245481014251709},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1940259337425232},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.12927526235580444}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3566621","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3566621","pdf_url":null,"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:HAL:hal-05507016v1","is_oa":false,"landing_page_url":"https://hal.science/hal-05507016","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":"IEEE Robotics and Automation Letters, 2025, 10 (6), pp.6344-6351. &#x27E8;10.1109/LRA.2025.3566621&#x27E9;","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1989506746","https://openalex.org/W2087431993","https://openalex.org/W2100484286","https://openalex.org/W2122134979","https://openalex.org/W2158782408","https://openalex.org/W2159537373","https://openalex.org/W2162123190","https://openalex.org/W2169017219","https://openalex.org/W2170068381","https://openalex.org/W2198582666","https://openalex.org/W2419095482","https://openalex.org/W2471547622","https://openalex.org/W2677257205","https://openalex.org/W2738677118","https://openalex.org/W2898392425","https://openalex.org/W2913254769","https://openalex.org/W2997541604","https://openalex.org/W3011929509","https://openalex.org/W3177524785","https://openalex.org/W3186304270","https://openalex.org/W4240691156","https://openalex.org/W4385486316","https://openalex.org/W4389199844","https://openalex.org/W4389666427","https://openalex.org/W6677959772","https://openalex.org/W6754322166"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Inertial":[0],"parameters":[1,29,43],"should":[2,112],"be":[3,24,113],"estimated":[4],"accurately":[5],"for":[6,67,179,200],"precise":[7],"robot":[8,21,103,131,158],"control":[9],"and":[10,88,128],"simulation.":[11],"<italic":[12],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[13],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Exciting":[14],"motions</i>,":[15],"motions":[16,70],"that":[17,162,187],"sufficiently":[18],"excite":[19],"all":[20,174],"dynamics,":[22],"must":[23],"generated":[25],"to":[26,46,106,115],"obtain":[27],"these":[28],"accurately.":[30],"However,":[31],"this":[32,60],"process":[33,76],"requires":[34],"a":[35,47,54,64,101,121,135],"certain":[36],"level":[37],"of":[38,84],"accuracy":[39],"in":[40,51,157,193],"the":[41,81,85,107,125,129,140,147,163,167],"inertial":[42,180],"themselves,":[44],"leading":[45],"circular":[48],"dependency,":[49],"especially":[50],"cases":[52],"with":[53],"significant":[55],"model-reality":[56],"discrepancy.":[57],"To":[58],"address":[59],"challenge,":[61],"we":[62],"propose":[63],"constrained":[65],"method":[66,99,144,165,189],"generating":[68],"exciting":[69],"within":[71],"an":[72],"iterative":[73],"data":[74],"acquisition":[75],"(active":[77],"learning).":[78],"It":[79],"optimizes":[80],"condition":[82,148],"number":[83,149],"regressor":[86],"matrix":[87],"achieves":[89,166],"sufficient":[90],"excitation":[91],"by":[92,133],"combining":[93],"several":[94],"motions.":[95],"We":[96],"evaluate":[97],"our":[98,143,188],"on":[100],"manipulator":[102],"not":[104],"fixed":[105],"ground,":[108],"where":[109,195],"dynamic":[110,196],"constraints":[111,197],"considered":[114],"maintain":[116],"balance":[117],"during":[118],"experiments.":[119],"Despite":[120],"substantial":[122],"gap":[123],"between":[124],"initial":[126],"model":[127],"actual":[130],"(simulated":[132],"adding":[134],"0.575":[136],"kg":[137],"payload":[138],"at":[139],"end":[141],"effector),":[142],"continuously":[145],"improved":[146],"without":[150],"motion":[151,201],"execution":[152],"failures\u2013whereas":[153],"conventional":[154],"methods":[155],"resulted":[156],"tipping.":[159],"Cross-validation":[160],"confirmed":[161],"proposed":[164],"lowest":[168],"root":[169],"mean":[170],"square":[171],"error":[172],"among":[173],"approaches,":[175],"demonstrating":[176],"superior":[177],"performance":[178],"parameter":[181],"identification.":[182],"These":[183],"results":[184],"collectively":[185],"demonstrate":[186],"is":[190],"particularly":[191],"practical":[192],"applications":[194],"are":[198],"critical":[199],"planning.":[202]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
