{"id":"https://openalex.org/W2128934928","doi":"https://doi.org/10.1109/robot.1987.1087761","title":"Decentralized adaptive control of robot manipulators","display_name":"Decentralized adaptive control of robot manipulators","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W2128934928","doi":"https://doi.org/10.1109/robot.1987.1087761","mag":"2128934928"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1987.1087761","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087761","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5009233025","display_name":"Donald T. Gavel","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I84218800","display_name":"University of California, Davis","ror":"https://ror.org/05rrcem69","country_code":"US","type":"education","lineage":["https://openalex.org/I84218800"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D. Gavel","raw_affiliation_strings":["Robotics Research Laboratory, Department of Electrical and Computer Engineering, University of California, Davis, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Laboratory, Department of Electrical and Computer Engineering, University of California, Davis, CA","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I84218800"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110204477","display_name":"T.C. Hsia","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I84218800","display_name":"University of California, Davis","ror":"https://ror.org/05rrcem69","country_code":"US","type":"education","lineage":["https://openalex.org/I84218800"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"T. Hsia","raw_affiliation_strings":["Robotics Research Laboratory, Department of Electrical and Computer Engineering, University of California, Davis, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Laboratory, Department of Electrical and Computer Engineering, University of California, Davis, CA","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I84218800"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.3335,"has_fulltext":false,"cited_by_count":60,"citation_normalized_percentile":{"value":0.94743156,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"4","issue":null,"first_page":"1230","last_page":"1235"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9991999864578247,"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":0.9991999864578247,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9968000054359436,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9937000274658203,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6777571439743042},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6644977927207947},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.6312085390090942},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.6032677888870239},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5917055010795593},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.5782037377357483},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5764374136924744},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5221741199493408},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5121617317199707},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.505092442035675},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.49542248249053955},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4494129419326782},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42962145805358887},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.42365363240242004},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3215602934360504},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2860126495361328},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2721817195415497},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10114207863807678}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6777571439743042},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6644977927207947},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.6312085390090942},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.6032677888870239},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5917055010795593},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.5782037377357483},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5764374136924744},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5221741199493408},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5121617317199707},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.505092442035675},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.49542248249053955},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4494129419326782},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42962145805358887},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.42365363240242004},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3215602934360504},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2860126495361328},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2721817195415497},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10114207863807678},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1987.1087761","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087761","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7799999713897705,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1582353822","https://openalex.org/W1589973475","https://openalex.org/W1603022741","https://openalex.org/W1985893431","https://openalex.org/W2087322379","https://openalex.org/W2107122120","https://openalex.org/W2258849551","https://openalex.org/W2312834382","https://openalex.org/W6635357501","https://openalex.org/W6675974919"],"related_works":["https://openalex.org/W59441132","https://openalex.org/W3200772726","https://openalex.org/W1498158497","https://openalex.org/W1534750456","https://openalex.org/W2125082648","https://openalex.org/W2160983430","https://openalex.org/W4388893656","https://openalex.org/W2283715810","https://openalex.org/W2749023251","https://openalex.org/W4296340444"],"abstract_inverted_index":{"A":[0],"decentralized":[1,69],"adaptive":[2,46],"control":[3,27,67],"scheme":[4],"is":[5,48,56,71],"presented":[6],"for":[7],"multilink":[8],"robot":[9,20,63],"arms.":[10],"The":[11,45],"structure":[12],"of":[13,62],"dynamic":[14],"and":[15,33],"force":[16],"interactions":[17],"in":[18,74],"the":[19,30,35],"arm":[21,36],"allows":[22],"local":[23],"high":[24],"gain":[25],"feedback":[26],"to":[28,37,41],"stabilize":[29],"overall":[31],"system,":[32],"cause":[34],"track":[38],"reference":[39],"trajectories":[40],"any":[42],"accuracy":[43],"desired.":[44],"law":[47],"locally":[49],"stable":[50],"with":[51],"an":[52],"attractive":[53],"set":[54],"that":[55,75],"adjustable":[57],"a-priori":[58],"using":[59,68],"minimal":[60],"knowledge":[61],"parameters.":[64],"Robot":[65],"manipulators":[66],"approach":[70],"highly":[72],"desirable":[73],"it":[76],"facilitates":[77],"real-time":[78],"implementation.":[79]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}