{"id":"https://openalex.org/W2106701609","doi":"https://doi.org/10.1109/robot.2006.1642262","title":"Optimization and design methodology of fuzzy controller for industrial robotic tasks","display_name":"Optimization and design methodology of fuzzy controller for industrial robotic tasks","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2106701609","doi":"https://doi.org/10.1109/robot.2006.1642262","mag":"2106701609"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1642262","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1642262","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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/A5060474857","display_name":"Youcef Touati","orcid":null},"institutions":[{"id":"https://openalex.org/I197681013","display_name":"Universit\u00e9 Paris-Est Cr\u00e9teil","ror":"https://ror.org/05ggc9x40","country_code":"FR","type":"education","lineage":["https://openalex.org/I197681013"]},{"id":"https://openalex.org/I2800365227","display_name":"Paris-Est Sup","ror":"https://ror.org/0268ecp52","country_code":"FR","type":"education","lineage":["https://openalex.org/I2800365227"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Y. Touati","raw_affiliation_strings":["LISSI Laboratory SCTIC Research Group, Paris 12 Val de Marne University, France","LISSI Lab., Paris 12 Val de Marne Univ., Vitry-sur-Seine"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LISSI Laboratory SCTIC Research Group, Paris 12 Val de Marne University, France","institution_ids":["https://openalex.org/I197681013"]},{"raw_affiliation_string":"LISSI Lab., Paris 12 Val de Marne Univ., Vitry-sur-Seine","institution_ids":["https://openalex.org/I197681013","https://openalex.org/I2800365227"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017088097","display_name":"Yassine Amirat","orcid":"https://orcid.org/0000-0002-2031-4088"},"institutions":[{"id":"https://openalex.org/I197681013","display_name":"Universit\u00e9 Paris-Est Cr\u00e9teil","ror":"https://ror.org/05ggc9x40","country_code":"FR","type":"education","lineage":["https://openalex.org/I197681013"]},{"id":"https://openalex.org/I2800365227","display_name":"Paris-Est Sup","ror":"https://ror.org/0268ecp52","country_code":"FR","type":"education","lineage":["https://openalex.org/I2800365227"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Y. Amirat","raw_affiliation_strings":["LISSI Laboratory SCTIC Research Group, Paris 12 Val de Marne University, France","LISSI Lab., Paris 12 Val de Marne Univ., Vitry-sur-Seine"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LISSI Laboratory SCTIC Research Group, Paris 12 Val de Marne University, France","institution_ids":["https://openalex.org/I197681013"]},{"raw_affiliation_string":"LISSI Lab., Paris 12 Val de Marne Univ., Vitry-sur-Seine","institution_ids":["https://openalex.org/I197681013","https://openalex.org/I2800365227"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.559,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.60355773,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"118","issue":null,"first_page":"3666","last_page":"3672"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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/T10653","display_name":"Robot Manipulation and Learning","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/T10868","display_name":"Soft Robotics and Applications","score":0.986299991607666,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9861000180244446,"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/fuzzy-logic","display_name":"Fuzzy logic","score":0.6425021290779114},{"id":"https://openalex.org/keywords/interpretability","display_name":"Interpretability","score":0.635217547416687},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6308523416519165},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5871291160583496},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5813499689102173},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.5378828048706055},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.532031238079071},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5000259876251221},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.46350306272506714},{"id":"https://openalex.org/keywords/smt-placement-equipment","display_name":"SMT placement equipment","score":0.45488500595092773},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4501129388809204},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44753479957580566},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.44162338972091675},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4231632947921753},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4202461540699005},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27837711572647095},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2324831783771515},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13357385993003845}],"concepts":[{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.6425021290779114},{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.635217547416687},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6308523416519165},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5871291160583496},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5813499689102173},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.5378828048706055},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.532031238079071},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5000259876251221},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.46350306272506714},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.45488500595092773},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4501129388809204},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44753479957580566},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.44162338972091675},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4231632947921753},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4202461540699005},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27837711572647095},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2324831783771515},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13357385993003845},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2006.1642262","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1642262","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W97933784","https://openalex.org/W1977873959","https://openalex.org/W1981017540","https://openalex.org/W1982226583","https://openalex.org/W1996025391","https://openalex.org/W2011900161","https://openalex.org/W2013020208","https://openalex.org/W2016694036","https://openalex.org/W2016958754","https://openalex.org/W2054711520","https://openalex.org/W2058655888","https://openalex.org/W2079325629","https://openalex.org/W2105660272","https://openalex.org/W2112474089","https://openalex.org/W2115110177","https://openalex.org/W2121693658","https://openalex.org/W2123859926","https://openalex.org/W2148213170","https://openalex.org/W2912565176","https://openalex.org/W4211007335"],"related_works":["https://openalex.org/W2905433371","https://openalex.org/W2888392564","https://openalex.org/W4310278675","https://openalex.org/W4388422664","https://openalex.org/W1532677580","https://openalex.org/W1527727992","https://openalex.org/W2001900524","https://openalex.org/W2917916498","https://openalex.org/W1531114845","https://openalex.org/W3120521754"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,114,134],"approach":[4,25,129,170],"for":[5,17,95],"complex":[6],"task":[7],"control":[8,21,126],"involving":[9],"robot/environment":[10],"interaction.":[11],"An":[12],"effective":[13],"hybrid":[14],"force/position":[15],"based-approach":[16],"multi-inputs/multi-outputs":[18],"(MIMO)":[19],"robot":[20,141],"is":[22,26,48,55,60,92,121],"proposed.":[23],"The":[24,128,154],"based":[27,86],"on":[28,63,87],"fuzzy":[29,96],"logic":[30],"controller":[31],"(FLC)":[32],"design":[33],"and":[34,50,57,89,156,165],"optimization":[35,98],"methodology":[36],"operating":[37],"in":[38,75,103],"two":[39],"stages:":[40],"at":[41],"the":[42,45,51,58,64,73,101,108,118,124,159,163,168],"first":[43],"stage,":[44],"FLC":[46,59,79,120],"architecture":[47],"defined":[49],"input":[52],"variables":[53],"space":[54],"partitioned;":[56],"trained":[61],"offline":[62],"basis":[65],"of":[66,72,105,107,117,158,167],"data":[67],"acquired":[68],"during":[69],"free":[70],"motion":[71],"robot,":[74,147],"order":[76],"to":[77,81,143],"map":[78],"outputs":[80],"real":[82],"behaviour.":[83],"A":[84],"method":[85],"Solis'":[88],"Wetts'":[90],"algorithm":[91],"then":[93],"applied":[94],"parameter":[97],"so":[99],"that":[100],"constraints":[102],"terms":[104],"interpretability":[106],"predefined":[109],"rules":[110],"are":[111],"respected.":[112],"Finally,":[113],"online":[115],"learning":[116],"generated":[119],"implemented":[122,132],"into":[123,133],"proposed":[125,169],"structure.":[127],"has":[130],"been":[131],"experimental":[135],"setup,":[136],"including":[137],"a":[138,144],"2D":[139],"Cartesian":[140],"linked":[142],"C5":[145],"parallel":[146],"performing":[148],"contour":[149],"following":[150],"under":[151],"force":[152],"constraints.":[153],"analysis":[155],"evaluation":[157],"obtained":[160],"results":[161],"show":[162],"suitability":[164],"efficiency":[166]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}