{"id":"https://openalex.org/W1927560585","doi":"https://doi.org/10.1109/robot.1986.1087497","title":"On modeling and adaptation in robot control","display_name":"On modeling and adaptation in robot control","publication_year":1986,"publication_date":"1986-01-01","ids":{"openalex":"https://openalex.org/W1927560585","doi":"https://doi.org/10.1109/robot.1986.1087497","mag":"1927560585"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1986.1087497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1986.1087497","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1986 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/A5110236073","display_name":"J.-J.E. Slotine","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"J.-J. Slotine","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA","Massachusetts Institute of Technology, Cambridge, MA,"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA,","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5110236073"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":3.6731,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.91844494,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1387","last_page":"1392"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","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/T10040","display_name":"Adaptive Control of Nonlinear Systems","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/T11749","display_name":"Iterative Learning Control Systems","score":0.9990000128746033,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9983999729156494,"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/actuator","display_name":"Actuator","score":0.7013940215110779},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6968851685523987},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.677282452583313},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5844427943229675},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.573017954826355},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.5705075263977051},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5555499196052551},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4833754897117615},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38860374689102173},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3104773163795471},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1059836745262146},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07799088954925537}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7013940215110779},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6968851685523987},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.677282452583313},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5844427943229675},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.573017954826355},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.5705075263977051},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5555499196052551},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4833754897117615},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38860374689102173},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3104773163795471},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1059836745262146},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07799088954925537},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1986.1087497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1986.1087497","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1986 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W160955151","https://openalex.org/W1586161429","https://openalex.org/W1968406128","https://openalex.org/W1990042683","https://openalex.org/W1994067443","https://openalex.org/W2001524797","https://openalex.org/W2020547600","https://openalex.org/W2029273112","https://openalex.org/W2034427367","https://openalex.org/W2034825286","https://openalex.org/W2045982296","https://openalex.org/W2048671342","https://openalex.org/W2065720856","https://openalex.org/W2067282211","https://openalex.org/W2096808185","https://openalex.org/W2150449296","https://openalex.org/W2154454757","https://openalex.org/W2156976422","https://openalex.org/W2157918371","https://openalex.org/W2164406970","https://openalex.org/W2165643318","https://openalex.org/W2381523230","https://openalex.org/W2569641373","https://openalex.org/W2610796673","https://openalex.org/W6606529298","https://openalex.org/W6676116243"],"related_works":["https://openalex.org/W4234906596","https://openalex.org/W4229591372","https://openalex.org/W2071544734","https://openalex.org/W2214501612","https://openalex.org/W2673944387","https://openalex.org/W1576487518","https://openalex.org/W4253156269","https://openalex.org/W3217556520","https://openalex.org/W1980072851","https://openalex.org/W2371387152"],"abstract_inverted_index":{"Performance":[0],"enhancement":[1],"through":[2],"modeling":[3],"of":[4,27,29,41],"high-frequency":[5],"dynamics":[6],"(such":[7],"as":[8],"structural":[9],"resonant":[10],"modes":[11],"or":[12,26],"actuator":[13],"time-delays)":[14],"and":[15,57],"on-line":[16],"parameter":[17],"estimation":[18],"(of":[19],"large":[20],"loads":[21],"with":[22],"unknown":[23],"mass":[24],"properties,":[25],"characteristics":[28],"the":[30,39],"environment":[31],"in":[32,38,54],"compliant":[33],"motion":[34],"control)":[35],"is":[36,45],"discussed":[37],"context":[40],"sliding":[42],"control.":[43],"It":[44],"shown":[46],"that":[47],"such":[48],"additions":[49],"can":[50],"be":[51],"easily":[52],"incorporated":[53],"existing":[55],"controllers":[56],"yield":[58],"predictable":[59],"performance":[60],"improvements.":[61]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
