{"id":"https://openalex.org/W2161173035","doi":"https://doi.org/10.1109/robot.1987.1087952","title":"A new architecture for robot control","display_name":"A new architecture for robot control","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W2161173035","doi":"https://doi.org/10.1109/robot.1987.1087952","mag":"2161173035"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1987.1087952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087952","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":"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/A5077998630","display_name":"Yulun Wang","orcid":"https://orcid.org/0000-0002-0847-0248"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Yulun Wang","raw_affiliation_strings":["Center for Robotic Systems in Microelectronics Department, University of California, Santa Barbar, CA"],"affiliations":[{"raw_affiliation_string":"Center for Robotic Systems in Microelectronics Department, University of California, Santa Barbar, CA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089643955","display_name":"S.E. Butner","orcid":null},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Butner","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California, Santa Barbara, CA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, Santa Barbara, CA","institution_ids":["https://openalex.org/I154570441"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5077998630"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.14906578,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"4","issue":null,"first_page":"664","last_page":"670"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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/T10904","display_name":"Embedded Systems Design Techniques","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9962000250816345,"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/computer-science","display_name":"Computer science","score":0.6966478228569031},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6348241567611694},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6113001704216003},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5721142292022705},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5622626543045044},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.5257578492164612},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5061885714530945},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.502173662185669},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.49816346168518066},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4506318271160126},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.41100746393203735},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3370833396911621},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3326772451400757},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3306104838848114},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1601795256137848},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.11673590540885925}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6966478228569031},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6348241567611694},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6113001704216003},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5721142292022705},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5622626543045044},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.5257578492164612},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5061885714530945},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.502173662185669},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.49816346168518066},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4506318271160126},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.41100746393203735},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3370833396911621},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3326772451400757},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3306104838848114},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1601795256137848},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.11673590540885925},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1987.1087952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087952","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W239283595","https://openalex.org/W1520460310","https://openalex.org/W1568994505","https://openalex.org/W1666410065","https://openalex.org/W1960116069","https://openalex.org/W1966552874","https://openalex.org/W1985956780","https://openalex.org/W2018426736","https://openalex.org/W2035066506","https://openalex.org/W2041576243","https://openalex.org/W2058198174","https://openalex.org/W2096141213","https://openalex.org/W2104508011","https://openalex.org/W2115452265","https://openalex.org/W2124092695","https://openalex.org/W2125713266","https://openalex.org/W2141250450","https://openalex.org/W2142993042","https://openalex.org/W2144688691","https://openalex.org/W2147300763","https://openalex.org/W2155887126","https://openalex.org/W2159235146"],"related_works":["https://openalex.org/W2607470227","https://openalex.org/W1508899372","https://openalex.org/W1253671258","https://openalex.org/W4300013288","https://openalex.org/W2951020105","https://openalex.org/W1995243476","https://openalex.org/W2012658348","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W2731862817"],"abstract_inverted_index":{"In":[0,136],"this":[1,137],"paper":[2],"we":[3,48,139],"discuss":[4,140],"the":[5,45,84,107],"demanding":[6],"computational":[7],"needs":[8],"of":[9,29,53,70,83,91],"robot":[10,86,121],"control":[11,87,113,170],"and":[12,24,94],"describe":[13,49],"a":[14,81,144],"new":[15,46],"computer":[16],"architecture":[17],"optimized":[18],"for":[19,26,109],"such":[20,155],"problems.":[21,156],"Inverse":[22],"kinematics":[23],"dynamics":[25],"6":[27],"degrees":[28],"freedom":[30],"arms":[31],"are":[32],"often":[33],"used":[34],"as":[35],"benchmarks":[36,78],"to":[37,42,153,161,164],"measure":[38,80],"controller":[39],"speed.":[40],"According":[41],"current":[43,141],"estimates,":[44],"processor":[47],"can":[50],"compute":[51],"both":[52],"these":[54],"problems,":[55],"using":[56],"32":[57],"bit":[58],"fixed-point":[59],"operations,":[60],"in":[61,134],"less":[62],"than":[63,73],"250":[64],"microseconds.":[65],"This":[66],"is":[67,150,159],"an":[68,173],"order":[69],"magnitude":[71],"faster":[72],"existing":[74],"state-of-the-art":[75],"systems.":[76],"Such":[77],"only":[79],"smallportion":[82],"true":[85],"problem.":[88],"The":[89,157],"issues":[90],"interpolation,":[92],"input/output,":[93],"multiple":[95,120],"axis":[96],"synchronization":[97],"must":[98,130],"also":[99],"be":[100,132],"addressed.":[101],"As":[102],"robotics":[103],"becomes":[104],"more":[105,110],"advanced,":[106],"need":[108],"compatationally":[111],"intensive":[112],"algorithms":[114,171],"(hybrid":[115],"position/force":[116],"control,":[117,119],"sensory-based":[118],"cooperation,":[122],"etc.)":[123],"will":[124],"grow.":[125],"These":[126],"now":[127],"computationally-intractable":[128],"problems":[129],"ultimately":[131],"computed":[133],"real-time.":[135],"paper,":[138],"progress":[142],"on":[143],"flexible":[145],"(i.e.":[146],"programmable)":[147],"system":[148,158],"which":[149],"fast":[151],"enough":[152],"approach":[154],"targetted":[160],"support":[162],"up":[163],"40":[165],"synchronized":[166],"axes,":[167],"performing":[168],"advanced":[169],"with":[172],"update":[174],"rate":[175],"over":[176],"1":[177],"KHz.":[178]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
