{"id":"https://openalex.org/W4294672657","doi":"https://doi.org/10.1109/rcar54675.2022.9872230","title":"Fast Adaptation Dynamics Model for Robot\u2019s Damage Recovery","display_name":"Fast Adaptation Dynamics Model for Robot\u2019s Damage Recovery","publication_year":2022,"publication_date":"2022-07-17","ids":{"openalex":"https://openalex.org/W4294672657","doi":"https://doi.org/10.1109/rcar54675.2022.9872230"},"language":"en","primary_location":{"id":"doi:10.1109/rcar54675.2022.9872230","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar54675.2022.9872230","pdf_url":null,"source":{"id":"https://openalex.org/S4363608312","display_name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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/A5115501009","display_name":"Ci Chen","orcid":"https://orcid.org/0000-0003-4632-7001"},"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":"Ci Chen","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101989823","display_name":"Dongqi Wang","orcid":"https://orcid.org/0000-0002-1810-3951"},"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":"Dongqi Wang","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041583153","display_name":"Jiyu Yu","orcid":null},"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":"Jiyu Yu","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052886854","display_name":"Pingyu Xiang","orcid":"https://orcid.org/0009-0006-3578-2366"},"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":"Pingyu Xiang","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057948288","display_name":"Haojian Lu","orcid":"https://orcid.org/0000-0002-1393-3040"},"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":"Haojian Lu","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100372089","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0003-0146-7262"},"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":"Yue Wang","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019081110","display_name":"Rong Xiong","orcid":"https://orcid.org/0000-0001-9318-9014"},"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":"Rong Xiong","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027","institution_ids":["https://openalex.org/I55712492"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I55712492"],"apc_list":null,"apc_paid":null,"fwci":0.3193,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.45140972,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"32","issue":null,"first_page":"45","last_page":"50"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9965000152587891,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9965000152587891,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9824000000953674,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8007853031158447},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7245757579803467},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.641194224357605},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6023131012916565},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.584736704826355},{"id":"https://openalex.org/keywords/internal-model","display_name":"Internal model","score":0.4610975980758667},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.44713258743286133},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44263532757759094},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41747117042541504},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.41642022132873535},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4122001528739929},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39915162324905396},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3543689250946045},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2175057828426361},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1972770392894745},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08880794048309326},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08326992392539978}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8007853031158447},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7245757579803467},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.641194224357605},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6023131012916565},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.584736704826355},{"id":"https://openalex.org/C28427503","wikidata":"https://www.wikidata.org/wiki/Q13580300","display_name":"Internal model","level":3,"score":0.4610975980758667},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.44713258743286133},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44263532757759094},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41747117042541504},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.41642022132873535},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4122001528739929},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39915162324905396},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3543689250946045},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2175057828426361},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1972770392894745},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08880794048309326},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08326992392539978},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/rcar54675.2022.9872230","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar54675.2022.9872230","pdf_url":null,"source":{"id":"https://openalex.org/S4363608312","display_name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320330944","display_name":"Nature","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1495862233","https://openalex.org/W1738827650","https://openalex.org/W1929309940","https://openalex.org/W2001685400","https://openalex.org/W2044223889","https://openalex.org/W2087617385","https://openalex.org/W2119884533","https://openalex.org/W2158782408","https://openalex.org/W2281096776","https://openalex.org/W2785389871","https://openalex.org/W2804072623","https://openalex.org/W2944746440","https://openalex.org/W2962974944","https://openalex.org/W2969520741","https://openalex.org/W2977527020","https://openalex.org/W3003817470","https://openalex.org/W3029509103","https://openalex.org/W3035080282","https://openalex.org/W3037484309","https://openalex.org/W3041686449","https://openalex.org/W3090820436","https://openalex.org/W3091304796","https://openalex.org/W3124767855","https://openalex.org/W3169952129","https://openalex.org/W3207250575","https://openalex.org/W3214620142","https://openalex.org/W4288319859","https://openalex.org/W4295023771","https://openalex.org/W4298206671","https://openalex.org/W4322614752","https://openalex.org/W6748519856","https://openalex.org/W6751494529","https://openalex.org/W6755667589","https://openalex.org/W6756463683","https://openalex.org/W6762548593","https://openalex.org/W6764053384","https://openalex.org/W6765121789","https://openalex.org/W6766767334","https://openalex.org/W6779125755","https://openalex.org/W6780234213","https://openalex.org/W6780559457","https://openalex.org/W6790177980"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2101188133","https://openalex.org/W3202234113","https://openalex.org/W1896148996","https://openalex.org/W4248731570","https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2157404983"],"abstract_inverted_index":{"In":[0],"the":[1,21,25,38,44,49,60,63,70,77,108,117,126,132,144,150,169,173,179,184,187],"process":[2],"of":[3,27,95,186],"operating,":[4],"robots":[5],"will":[6,42,104],"inevitably":[7],"encounter":[8],"damage":[9,97],"due":[10],"to":[11,37,46,76,83,92,130,178],"external":[12],"or":[13],"internal":[14],"factors,":[15],"such":[16],"as":[17,148],"motors":[18,26,33],"blockage.":[19],"For":[20],"legged":[22,56],"robot,":[23],"when":[24,111],"joints":[28],"are":[29],"failing,":[30],"if":[31],"other":[32],"still":[34],"act":[35],"according":[36],"original":[39],"instructions,":[40],"it":[41],"cause":[43],"robot":[45,151],"deviate":[47],"from":[48],"predetermined":[50],"trajectory,":[51],"which":[52,182],"is":[53,82,114,176],"unacceptable":[54],"for":[55],"robots.":[57],"Inspired":[58],"by":[59,66],"fact":[61],"that":[62,88,172],"model":[64,87,137,163,167],"trained":[65],"supervised":[67],"learning":[68],"on":[69],"training":[71],"set":[72],"can":[73,89,100],"be":[74,90,105],"generalized":[75,91],"testing":[78],"set,":[79],"our":[80],"goal":[81,146],"obtain":[84],"a":[85,136,154],"dynamic":[86],"all":[93],"kinds":[94],"motor":[96],"situations.":[98],"It":[99],"predict":[101],"what":[102],"state":[103],"reached":[106],"in":[107,116,135,153],"next":[109],"step":[110],"an":[112],"action":[113],"applied":[115],"current":[118],"state.":[119],"With":[120],"this":[121],"dynamics":[122,166],"model,":[123],"we":[124],"use":[125],"Monte":[127],"Carlo":[128],"particles":[129],"optimize":[131],"feasible":[133],"actions":[134],"predictive":[138],"control":[139],"(MPC)":[140],"fashion":[141],"and":[142,164],"achieve":[143],"expected":[145],"(such":[147],"making":[149],"walk":[152],"straight":[155],"line).":[156],"The":[157],"comparison":[158],"experiment":[159],"adopt":[160],"two":[161],"meta-learning":[162],"vanilla":[165],"approaches,":[168],"results":[170],"show":[171],"proposed":[174,188],"method":[175],"superior":[177],"three":[180],"baselines,":[181],"proves":[183],"effectiveness":[185],"method.":[189]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
