{"id":"https://openalex.org/W2133650753","doi":"https://doi.org/10.1109/robot.1987.1088017","title":"Choosing sampling rates for robot control","display_name":"Choosing sampling rates for robot control","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W2133650753","doi":"https://doi.org/10.1109/robot.1987.1088017","mag":"2133650753"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1987.1088017","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1088017","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/A5103011933","display_name":"P.K. Khosla","orcid":"https://orcid.org/0000-0002-0509-2018"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"P. Khosla","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Carnegie-Mellon University, Pittsburgh, PA","Carnegie-Mellon University, Pittsburgh, Pa., USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Carnegie-Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie-Mellon University, Pittsburgh, Pa., USA#TAB#","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5103011933"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":52,"citation_normalized_percentile":{"value":0.30723189,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"4","issue":null,"first_page":"169","last_page":"174"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","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/T11749","display_name":"Iterative Learning Control Systems","score":0.9944999814033508,"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/control-theory","display_name":"Control theory (sociology)","score":0.789492130279541},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6975501775741577},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6817358732223511},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.6695277690887451},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6143460869789124},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5543417930603027},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5212938785552979},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.49621134996414185},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49382075667381287},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4744188189506531},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4621790945529938},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.3878277540206909},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36516261100769043},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3568716049194336},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21661004424095154},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2129315733909607},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.06893101334571838}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.789492130279541},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6975501775741577},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6817358732223511},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.6695277690887451},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6143460869789124},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5543417930603027},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5212938785552979},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.49621134996414185},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49382075667381287},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4744188189506531},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4621790945529938},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.3878277540206909},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36516261100769043},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3568716049194336},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21661004424095154},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2129315733909607},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.06893101334571838},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1109/robot.1987.1088017","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1088017","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"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.838.874","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.838.874","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://repository.cmu.edu/cgi/viewcontent.cgi?article%3D1594%26context%3Drobotics","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.841.3145","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.841.3145","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://repository.cmu.edu/cgi/viewcontent.cgi?article%3D1644%26context%3Disr","raw_type":"text"},{"id":"pmh:oai:repository.cmu.edu:isr-1644","is_oa":false,"landing_page_url":"http://repository.cmu.edu/cgi/viewcontent.cgi?article=1644&context=isr","pdf_url":null,"source":{"id":"https://openalex.org/S7407050927","display_name":"KiltHub Repository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Institute for Software Research","raw_type":"text"},{"id":"pmh:oai:repository.cmu.edu:robotics-1594","is_oa":false,"landing_page_url":"http://repository.cmu.edu/cgi/viewcontent.cgi?article=1594&context=robotics","pdf_url":null,"source":{"id":"https://openalex.org/S7407050927","display_name":"KiltHub Repository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics Institute","raw_type":"text"},{"id":"pmh:ADA179447","is_oa":false,"landing_page_url":"http://oai.dtic.mil/oai/oai?&verb=getRecord&metadataPrefix=html&identifier=ADA179447","pdf_url":null,"source":{"id":"https://openalex.org/S4406923043","display_name":"Defense Technical Information Center (DTIC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"DTIC AND NTIS","raw_type":"Text"},{"id":"pmh:doi:10.1184/r1/6552257","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal contribution"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W823573760","https://openalex.org/W1534631622","https://openalex.org/W1569867348","https://openalex.org/W1973805308","https://openalex.org/W2034825286","https://openalex.org/W2035066506","https://openalex.org/W2108115552","https://openalex.org/W2114864807","https://openalex.org/W2132294818","https://openalex.org/W2159235146","https://openalex.org/W2162275143","https://openalex.org/W2164712602","https://openalex.org/W6631867708","https://openalex.org/W6677361967","https://openalex.org/W6683805186"],"related_works":["https://openalex.org/W2372125609","https://openalex.org/W2083759350","https://openalex.org/W3133687580","https://openalex.org/W2021098562","https://openalex.org/W2526541772","https://openalex.org/W2274365341","https://openalex.org/W1566538768","https://openalex.org/W1897710365","https://openalex.org/W2317038355","https://openalex.org/W2942851934"],"abstract_inverted_index":{"In":[0,18],"our":[1,128],"previous":[2],"research,":[3],"we":[4,21,131],"experimentally":[5],"implemented":[6],"and":[7,37,58,76,82],"evaluated":[8],"the":[9,23,27,32,35,43,46,51,53,62,67,74,77,99,106,109,117,121,135,149],"effect":[10,24],"of":[11,25,34,50,61,69,108,137,148],"dynamics":[12,48],"compensation":[13],"in":[14,144],"model-based":[15],"control":[16,28,40,80,124],"algorithms.":[17],"this":[19],"paper,":[20],"evaluate":[22],"changing":[26],"sampling":[29,110,115,139],"period":[30],"on":[31,127],"performance":[33],"computed-torque":[36,75,118],"independent":[38,78,122],"joint":[39,79,123],"schemes.":[41],"While":[42],"former":[44],"utilizes":[45],"complete":[47],"model":[49,60],"manipulator,":[52],"latter":[54],"assumes":[55],"a":[56,84],"decoupled":[57],"linear":[59],"manipulator":[63],"dynamics.":[64],"We":[65],"discuss":[66],"design":[68],"controller":[70],"gains":[71],"for":[72,86],"both":[73],"schemes":[81],"establish":[83,134],"framework":[85],"comparing":[87],"their":[88],"trajectory":[89,100],"tracking":[90,101],"performance.":[91],"Our":[92],"experiments":[93],"show":[94],"that":[95],"within":[96],"each":[97],"scheme":[98,119],"accuracy":[102],"varies":[103],"slightly":[104],"with":[105],"change":[107],"rate.":[111],"However,":[112],"at":[113],"low":[114],"rates":[116,140],"outperforms":[120],"scheme.":[125],"Based":[126],"experimental":[129],"results,":[130],"also":[132],"conclusively":[133],"importance":[136],"high":[138],"as":[141],"they":[142],"result":[143],"an":[145],"increased":[146],"stiffness":[147],"system.":[150]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}