{"id":"https://openalex.org/W2920999338","doi":"https://doi.org/10.1109/robio.2018.8665146","title":"Force Control of Flexible Integrated Joint Based on Model-free Adaptive Control","display_name":"Force Control of Flexible Integrated Joint Based on Model-free Adaptive Control","publication_year":2018,"publication_date":"2018-12-01","ids":{"openalex":"https://openalex.org/W2920999338","doi":"https://doi.org/10.1109/robio.2018.8665146","mag":"2920999338"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2018.8665146","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8665146","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5101938095","display_name":"Yingli Li","orcid":"https://orcid.org/0000-0002-5843-2848"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yingli Li","raw_affiliation_strings":["State Key Laboratory of Robotics, University of the Chinese Academy of Sciences, Shenyang, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, University of the Chinese Academy of Sciences, Shenyang, Beijing, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101971483","display_name":"Yiwen Zhao","orcid":"https://orcid.org/0000-0002-3853-7458"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiwen Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101806300","display_name":"Kai Li","orcid":"https://orcid.org/0000-0001-9712-1383"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Li","raw_affiliation_strings":["State Key Laboratory of Robotics, University of the Chinese Academy of Sciences, Shenyang, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, University of the Chinese Academy of Sciences, Shenyang, Beijing, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031319840","display_name":"Zheng Wang","orcid":"https://orcid.org/0000-0002-8434-9757"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Wang","raw_affiliation_strings":["State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037953832","display_name":"Xingang Zhao","orcid":"https://orcid.org/0000-0001-8194-1870"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingang Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101938095"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"],"apc_list":null,"apc_paid":null,"fwci":0.1839,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.54842879,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"43","issue":null,"first_page":"1425","last_page":"1430"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9986000061035156,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9986000061035156,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9940000176429749,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9778000116348267,"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/control-theory","display_name":"Control theory (sociology)","score":0.7690027952194214},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5994601845741272},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5676941275596619},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5500945448875427},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5360790491104126},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4989330768585205},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4962030053138733},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4780222177505493},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.47275787591934204},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4697072207927704},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.45719873905181885},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4126797020435333},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2516337037086487},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13098204135894775},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12914150953292847},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11582574248313904}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7690027952194214},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5994601845741272},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5676941275596619},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5500945448875427},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5360790491104126},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4989330768585205},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4962030053138733},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4780222177505493},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.47275787591934204},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4697072207927704},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.45719873905181885},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4126797020435333},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2516337037086487},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13098204135894775},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12914150953292847},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11582574248313904},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2018.8665146","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8665146","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W320482752","https://openalex.org/W1535570778","https://openalex.org/W1953836885","https://openalex.org/W1972346475","https://openalex.org/W1995090200","https://openalex.org/W2007533072","https://openalex.org/W2015791522","https://openalex.org/W2028847290","https://openalex.org/W2090108740","https://openalex.org/W2108695617","https://openalex.org/W2117408957","https://openalex.org/W2150024155","https://openalex.org/W2154028550","https://openalex.org/W2166696144","https://openalex.org/W2198912244","https://openalex.org/W2559850580","https://openalex.org/W2889055133","https://openalex.org/W4249560056"],"related_works":["https://openalex.org/W1998462347","https://openalex.org/W2349527210","https://openalex.org/W1836713364","https://openalex.org/W4300511988","https://openalex.org/W2131265573","https://openalex.org/W2899783744","https://openalex.org/W2317650444","https://openalex.org/W130230158","https://openalex.org/W2913529325","https://openalex.org/W2964841342"],"abstract_inverted_index":{"The":[0,22,162],"flexible":[1,52],"integrated":[2],"joint":[3,53],"(FIJ)":[4],"is":[5,25,54],"a":[6,55,76,103,110,115,173],"key":[7],"part":[8],"of":[9,17,50,91,97,123,142,180],"the":[10,15,44,51,88,92,95,98,124,140,143,146,167,177,181],"collaborative":[11],"robots,":[12],"which":[13],"has":[14],"characteristics":[16],"lightweight":[18],"and":[19,33,39,65,133,152,185],"highly":[20],"integration.":[21],"force":[23,40,48,89,121,150,154],"control":[24,38,49,77,83,90,122,169],"pivotal":[26],"for":[27,47,87,120],"achieving":[28],"compliant":[29],"interactions":[30],"with":[31,58],"environments":[32,70],"humans,":[34],"such":[35],"as":[36,176],"impendence":[37],"tracking":[41,151,155],"control.":[42],"However,":[43],"controller":[45],"design":[46],"challenging":[56],"issue":[57],"unmodeled":[59],"uncertainties,":[60],"nonlinear":[61],"friction,":[62],"time-varying":[63,184],"load":[64],"other":[66],"disturbances":[67],"forced":[68],"by":[69,109],"in":[71,159],"general.":[72],"In":[73],"this":[74,160],"paper,":[75],"scheme":[78],"based":[79],"on":[80],"model-free":[81],"adaptive":[82],"(MFAC)":[84],"was":[85,100,118],"developed":[86,168],"FIJ.":[93],"First,":[94],"model":[96,108],"FIJ":[99,182],"transformed":[101],"into":[102],"virtual":[104],"dynamic":[105,111],"linearization":[106,112],"data":[107],"approach.":[113],"Second,":[114],"MFAC":[116],"algorithm":[117,132],"designed":[119],"FIJ,":[125],"including":[126,148],"its":[127],"corresponding":[128],"pseudo":[129,134],"gradient":[130,135],"estimating":[131],"resetting":[136],"algorithm.":[137],"To":[138],"evaluate":[139],"performance":[141,175],"proposed":[144],"method,":[145],"experiments":[147],"zero":[149],"step":[153],"were":[156],"carried":[157],"out":[158],"research.":[161],"experimental":[163],"results":[164],"show":[165],"that":[166],"approach":[170],"can":[171],"get":[172],"high":[174],"dynamical":[178],"parameters":[179],"are":[183],"uncertain.":[186]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}