{"id":"https://openalex.org/W4413344017","doi":"https://doi.org/10.1109/lra.2025.3600101","title":"Equivalence of Closed Chains to Open Chains: Virtual Decomposition Control Combined With Adaptive RBF Neural Network for Hydraulic Robot Legs","display_name":"Equivalence of Closed Chains to Open Chains: Virtual Decomposition Control Combined With Adaptive RBF Neural Network for Hydraulic Robot Legs","publication_year":2025,"publication_date":"2025-08-19","ids":{"openalex":"https://openalex.org/W4413344017","doi":"https://doi.org/10.1109/lra.2025.3600101"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3600101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3600101","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":null,"display_name":"Kun Zhang","orcid":"https://orcid.org/0009-0000-9494-9994"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Zhang","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0009-0000-9494-9994","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067333257","display_name":"Huaizhi Zong","orcid":"https://orcid.org/0000-0002-0966-6736"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaizhi Zong","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-0966-6736","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100735407","display_name":"Yong Li","orcid":"https://orcid.org/0000-0003-2072-6012"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Li","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113398665","display_name":"Jikun Ai","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jikun Ai","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100353416","display_name":"Junhui Zhang","orcid":"https://orcid.org/0000-0002-2603-2065"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junhui Zhang","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-2603-2065","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101419703","display_name":"Bing Xu","orcid":"https://orcid.org/0000-0003-0236-7896"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bing Xu","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-0236-7896","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.17674461,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"10","first_page":"10138","last_page":"10145"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9386000037193298,"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"}},"topics":[{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9386000037193298,"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":0.9194999933242798,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9190000295639038,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/equivalence","display_name":"Equivalence (formal languages)","score":0.6302133798599243},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6024802923202515},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5513906478881836},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4948510527610779},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4228248596191406},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39476659893989563},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30350780487060547},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3031645715236664},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2500044107437134},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.234369695186615},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.07189765572547913}],"concepts":[{"id":"https://openalex.org/C2780069185","wikidata":"https://www.wikidata.org/wiki/Q7977945","display_name":"Equivalence (formal languages)","level":2,"score":0.6302133798599243},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6024802923202515},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5513906478881836},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4948510527610779},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4228248596191406},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39476659893989563},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30350780487060547},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3031645715236664},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2500044107437134},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.234369695186615},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.07189765572547913}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3600101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3600101","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1397588470","display_name":null,"funder_award_id":"U21A20124","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8150279276","display_name":null,"funder_award_id":"2022C01039","funder_id":"https://openalex.org/F8142712028","funder_display_name":"Key Research and Development Program of Zhejiang Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F8142712028","display_name":"Key Research and Development Program of Zhejiang Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1511549914","https://openalex.org/W2003753658","https://openalex.org/W2504581443","https://openalex.org/W2532073048","https://openalex.org/W2588172569","https://openalex.org/W3081791272","https://openalex.org/W3207583741","https://openalex.org/W4214634122","https://openalex.org/W4221155215","https://openalex.org/W4285102283","https://openalex.org/W4299903740","https://openalex.org/W4312757141","https://openalex.org/W4378696928","https://openalex.org/W4399118934","https://openalex.org/W4402217894","https://openalex.org/W4402350775","https://openalex.org/W4409327422","https://openalex.org/W4410226824"],"related_works":["https://openalex.org/W1982160337","https://openalex.org/W1971380437","https://openalex.org/W1983548084","https://openalex.org/W2141691317","https://openalex.org/W2110846987","https://openalex.org/W2160609742","https://openalex.org/W1997414638","https://openalex.org/W2031091109","https://openalex.org/W2049254832","https://openalex.org/W2383436541"],"abstract_inverted_index":{"The":[0,189],"joints":[1],"of":[2,15,47,122,178,193,202],"the":[3,16,25,31,36,44,48,51,116,138,153,160,170,176,186,194],"hydraulic":[4,88],"robot,":[5],"driven":[6,148],"by":[7,149],"linear":[8],"cylinders,":[9,49],"form":[10],"triangular":[11],"closed-chain":[12,117,139],"structures":[13],"composed":[14],"cylinders":[17,74],"and":[18,29,94,126,191],"passive":[19],"rotational":[20],"joints.":[21],"This":[22],"configuration":[23],"complicates":[24],"complete":[26],"dynamic":[27,77],"modeling":[28,37,62],"increases":[30],"system's":[32],"nonlinearity.":[33],"To":[34,79],"simplify":[35],"process,":[38],"conventional":[39],"model-based":[40],"controllers":[41],"often":[42],"disregard":[43],"rigid-body":[45],"dynamics":[46],"treating":[50],"robot's":[52],"legs":[53],"or":[54,75],"arms":[55],"as":[56,91,120,144],"open-chain":[57,124,146,161],"systems.":[58],"However,":[59],"this":[60,81,83,136],"introduces":[61],"errors":[63],"that":[64,98],"adversely":[65],"affect":[66],"control":[67,102,155],"performance,":[68],"especially":[69],"in":[70],"systems":[71],"with":[72,104],"heavier":[73],"high":[76],"requirements.":[78],"address":[80],"issue,":[82],"study":[84],"takes":[85],"a":[86,96,127,200],"typical":[87],"robot":[89],"leg":[90,118],"an":[92,105,123,145,164],"example":[93],"proposes":[95],"controller":[97,196],"combines":[99],"virtual":[100],"decomposition":[101],"(VDC)":[103],"adaptive":[106,165],"radial":[107],"basis":[108],"function":[109],"neural":[110],"network":[111],"(RBFNN).":[112],"We":[113],"first":[114],"model":[115],"system":[119,140,147],"consisting":[121],"subsystem":[125,129,172],"coupling":[128,171],"solely":[130],"related":[131],"to":[132,173],"cylinder":[133,179],"dynamics.":[134,180],"In":[135],"way,":[137],"can":[141],"be":[142],"regarded":[143],"coupled":[150],"motors.":[151],"Subsequently,":[152],"VDC":[154],"equations":[156],"are":[157],"designed":[158],"for":[159,169,175,185],"subsystem,":[162],"while":[163],"RBFNN":[166],"is":[167,183,197],"developed":[168],"compensate":[174],"effects":[177],"Stability":[181],"analysis":[182],"conducted":[184],"entire":[187],"system.":[188],"effectiveness":[190],"advantages":[192],"proposed":[195],"validated":[198],"through":[199],"series":[201],"prototype":[203],"experiments.":[204]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}