{"id":"https://openalex.org/W2145879456","doi":"https://doi.org/10.1109/robot.1985.1087243","title":"The role of knowledge in the architecture of a robust robot control","display_name":"The role of knowledge in the architecture of a robust robot control","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W2145879456","doi":"https://doi.org/10.1109/robot.1985.1087243","mag":"2145879456"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1985.1087243","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1985.1087243","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1985 IEEE International Conference on Robotics and Automation","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/A5016462041","display_name":"Maria Gini","orcid":"https://orcid.org/0000-0001-8841-1055"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"M. Gini","raw_affiliation_strings":["Computer Science Department, University of Minnesota","University of\u00a0Minnesota"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Minnesota","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"University of\u00a0Minnesota","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113204597","display_name":"R. Doshi","orcid":"https://orcid.org/0000-0002-4500-7973"},"institutions":[{"id":"https://openalex.org/I4210101327","display_name":"Twin Cities Orthopedics","ror":"https://ror.org/01en4s460","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210101327"]},{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Doshi","raw_affiliation_strings":["Computer Science Department, University of Minnesota","University of Minnesota Twin Cities"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Minnesota","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"University of Minnesota Twin Cities","institution_ids":["https://openalex.org/I4210101327","https://openalex.org/I130238516"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029850223","display_name":"M. Gluch","orcid":null},"institutions":[{"id":"https://openalex.org/I4210101327","display_name":"Twin Cities Orthopedics","ror":"https://ror.org/01en4s460","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210101327"]},{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Gluch","raw_affiliation_strings":["Computer Science Department, University of Minnesota","University of Minnesota Twin Cities"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Minnesota","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"University of Minnesota Twin Cities","institution_ids":["https://openalex.org/I4210101327","https://openalex.org/I130238516"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111673634","display_name":"Richard E. Smith","orcid":null},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]},{"id":"https://openalex.org/I4210101327","display_name":"Twin Cities Orthopedics","ror":"https://ror.org/01en4s460","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210101327"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Smith","raw_affiliation_strings":["Computer Science Department, University of Minnesota","University of Minnesota Twin Cities"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Minnesota","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"University of Minnesota Twin Cities","institution_ids":["https://openalex.org/I4210101327","https://openalex.org/I130238516"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035716630","display_name":"Imran Zualkernan","orcid":"https://orcid.org/0000-0002-1048-5633"},"institutions":[{"id":"https://openalex.org/I4210101327","display_name":"Twin Cities Orthopedics","ror":"https://ror.org/01en4s460","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210101327"]},{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"I. Zualkernan","raw_affiliation_strings":["Computer Science Department, University of Minnesota","University of Minnesota Twin Cities"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Minnesota","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"University of Minnesota Twin Cities","institution_ids":["https://openalex.org/I4210101327","https://openalex.org/I130238516"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5016462041"],"corresponding_institution_ids":["https://openalex.org/I130238516"],"apc_list":null,"apc_paid":null,"fwci":0.9579,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.82034193,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"561","last_page":"567"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.993399977684021,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9897000193595886,"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":0.7744127511978149},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7180490493774414},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6926504969596863},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.6345298290252686},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5893455147743225},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.534550130367279},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4876784086227417},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4817802608013153},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4629195034503937},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4414919316768646},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.4110933244228363},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3689653277397156},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.35598456859588623},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.34370970726013184},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21192193031311035},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.10044673085212708}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7744127511978149},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7180490493774414},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6926504969596863},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.6345298290252686},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5893455147743225},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.534550130367279},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4876784086227417},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4817802608013153},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4629195034503937},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4414919316768646},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.4110933244228363},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3689653277397156},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35598456859588623},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.34370970726013184},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21192193031311035},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.10044673085212708},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1985.1087243","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1985.1087243","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1985 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309636","display_name":"University of Minnesota","ror":"https://ror.org/03grvy078"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W9672914","https://openalex.org/W107245055","https://openalex.org/W136266083","https://openalex.org/W1578830675","https://openalex.org/W1582353822","https://openalex.org/W1585603966","https://openalex.org/W1592739306","https://openalex.org/W1613651675","https://openalex.org/W1901102793","https://openalex.org/W1976289842","https://openalex.org/W1979542069","https://openalex.org/W2015947727","https://openalex.org/W2038693404","https://openalex.org/W2058456007","https://openalex.org/W2074423880","https://openalex.org/W2094595508","https://openalex.org/W2129973754","https://openalex.org/W2163461330","https://openalex.org/W2253153775","https://openalex.org/W2294089271","https://openalex.org/W2337392266","https://openalex.org/W2402164836","https://openalex.org/W4252387763","https://openalex.org/W6600397192","https://openalex.org/W6635049011","https://openalex.org/W6635563262","https://openalex.org/W6639906394","https://openalex.org/W6691708311","https://openalex.org/W7028686169"],"related_works":["https://openalex.org/W1886477626","https://openalex.org/W2762381663","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762","https://openalex.org/W2741909783","https://openalex.org/W1979383880","https://openalex.org/W4210919297"],"abstract_inverted_index":{"We":[0,17],"would":[1],"like":[2],"robots":[3],"to":[4,19,22,27,64],"recognize":[5],"and":[6],"handle":[7],"situations":[8],"that":[9],"do":[10,23],"not":[11],"conform":[12],"with":[13],"normal":[14],"operating":[15],"conditions.":[16],"want":[18],"be":[20],"able":[21],"this":[24,41],"without":[25],"having":[26],"consider":[28],"explicitly":[29],"errors":[30],"caused":[31],"by":[32,38],"missing":[33],"or":[34,37],"defective":[35],"parts,":[36],"malfunctioning.":[39],"To":[40],"end":[42],"we":[43],"present":[44],"the":[45,53,56,69],"detailed":[46],"design":[47],"of":[48,55,60,68],"a":[49,76],"system":[50],"in":[51,79],"which":[52],"controller":[54],"robot":[57,70],"takes":[58],"advantage":[59],"large":[61,77],"knowledge":[62],"bases":[63],"ensure":[65],"proper":[66],"execution":[67],"task.":[71],"Real":[72],"time":[73],"considerations":[74],"played":[75],"role":[78],"our":[80],"design.":[81]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
