{"id":"https://openalex.org/W2890291247","doi":"https://doi.org/10.1109/tcst.2019.2891222","title":"Derivative-Free Online Learning of Inverse Dynamics Models","display_name":"Derivative-Free Online Learning of Inverse Dynamics Models","publication_year":2019,"publication_date":"2019-02-12","ids":{"openalex":"https://openalex.org/W2890291247","doi":"https://doi.org/10.1109/tcst.2019.2891222","mag":"2890291247"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2019.2891222","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2019.2891222","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1809.05074","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5062272788","display_name":"Diego Romeres","orcid":"https://orcid.org/0000-0002-8603-2438"},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Diego Romeres","raw_affiliation_strings":["Mitsubishi Electric Research Laboratories, Cambridge, USA","Mitsubishi Electric Research Lab, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-8603-2438","affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories, Cambridge, USA","institution_ids":["https://openalex.org/I4210159266"]},{"raw_affiliation_string":"Mitsubishi Electric Research Lab, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210159266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088792059","display_name":"Mattia Zorzi","orcid":"https://orcid.org/0000-0002-5581-5210"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mattia Zorzi","raw_affiliation_strings":["Department of Information Engineering, University of Padova, Padua, Italy","[Dept. of Inf. Eng., Univ. of Padova, Padua, Italy]"],"raw_orcid":"https://orcid.org/0000-0002-5581-5210","affiliations":[{"raw_affiliation_string":"Department of Information Engineering, University of Padova, Padua, Italy","institution_ids":["https://openalex.org/I138689650"]},{"raw_affiliation_string":"[Dept. of Inf. Eng., Univ. of Padova, Padua, Italy]","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052961865","display_name":"Raffaello Camoriano","orcid":"https://orcid.org/0000-0002-8890-2732"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]},{"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":["IT","US"],"is_corresponding":false,"raw_author_name":"Raffaello Camoriano","raw_affiliation_strings":["ICub Facility, Istituto Italiano di Tecnologia, Genoa, Italy","Laboratory for Computational and Statistical Learning - IIT@MIT, Massachusetts Institute of Technology, Cambridge, USA","Laboratory for Computational and Statistical Learning - IIT@MIT, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-8890-2732","affiliations":[{"raw_affiliation_string":"ICub Facility, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Laboratory for Computational and Statistical Learning - IIT@MIT, Massachusetts Institute of Technology, Cambridge, USA","institution_ids":["https://openalex.org/I63966007","https://openalex.org/I4210110987"]},{"raw_affiliation_string":"Laboratory for Computational and Statistical Learning - IIT@MIT, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007","https://openalex.org/I4210110987"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082517605","display_name":"Silvio Traversaro","orcid":"https://orcid.org/0000-0002-9283-6133"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Silvio Traversaro","raw_affiliation_strings":["ICub Facility, Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-9283-6133","affiliations":[{"raw_affiliation_string":"ICub Facility, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062648585","display_name":"Alessandro Chiuso","orcid":"https://orcid.org/0000-0002-4410-6101"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro Chiuso","raw_affiliation_strings":["Department of Information Engineering, University of Padova, Padua, Italy","[Dept. of Inf. Eng., Univ. of Padova, Padua, Italy]"],"raw_orcid":"https://orcid.org/0000-0002-4410-6101","affiliations":[{"raw_affiliation_string":"Department of Information Engineering, University of Padova, Padua, Italy","institution_ids":["https://openalex.org/I138689650"]},{"raw_affiliation_string":"[Dept. of Inf. Eng., Univ. of Padova, Padua, Italy]","institution_ids":["https://openalex.org/I138689650"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5062272788"],"corresponding_institution_ids":["https://openalex.org/I4210159266"],"apc_list":null,"apc_paid":null,"fwci":0.3369,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.56374541,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"28","issue":"3","first_page":"816","last_page":"830"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9988999962806702,"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/T11236","display_name":"Control Systems and Identification","score":0.9988999962806702,"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/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9943000078201294,"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/icub","display_name":"iCub","score":0.7388985753059387},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.7312790155410767},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6889065504074097},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.6414788961410522},{"id":"https://openalex.org/keywords/preprocessor","display_name":"Preprocessor","score":0.5901198387145996},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5400640964508057},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47975432872772217},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.45565202832221985},{"id":"https://openalex.org/keywords/inverse-problem","display_name":"Inverse problem","score":0.4324095547199249},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.42358121275901794},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.41701480746269226},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36419570446014404},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3574293255805969},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3337623178958893},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.31507086753845215},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23192819952964783},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.10427200794219971}],"concepts":[{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.7388985753059387},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.7312790155410767},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6889065504074097},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6414788961410522},{"id":"https://openalex.org/C34736171","wikidata":"https://www.wikidata.org/wiki/Q918333","display_name":"Preprocessor","level":2,"score":0.5901198387145996},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5400640964508057},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47975432872772217},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.45565202832221985},{"id":"https://openalex.org/C135252773","wikidata":"https://www.wikidata.org/wiki/Q1567213","display_name":"Inverse problem","level":2,"score":0.4324095547199249},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.42358121275901794},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.41701480746269226},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36419570446014404},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3574293255805969},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3337623178958893},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.31507086753845215},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23192819952964783},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.10427200794219971},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/tcst.2019.2891222","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2019.2891222","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1809.05074","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1809.05074","pdf_url":"https://arxiv.org/pdf/1809.05074","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2890291247","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1809.05074","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:iris.unige.it:11567/1092316","is_oa":false,"landing_page_url":"https://hdl.handle.net/11567/1092316","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:www.research.unipd.it:11577/3309556","is_oa":true,"landing_page_url":"http://hdl.handle.net/11577/3309556","pdf_url":null,"source":{"id":"https://openalex.org/S4377196283","display_name":"Research Padua  Archive (University of Padua)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138689650","host_organization_name":"University of Padua","host_organization_lineage":["https://openalex.org/I138689650"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"doi:10.48550/arxiv.1809.05074","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1809.05074","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1809.05074","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1809.05074","pdf_url":"https://arxiv.org/pdf/1809.05074","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W1561941139","https://openalex.org/W1571870753","https://openalex.org/W1606738297","https://openalex.org/W1768443527","https://openalex.org/W1862263964","https://openalex.org/W1963573260","https://openalex.org/W1965324089","https://openalex.org/W1972537245","https://openalex.org/W1973310094","https://openalex.org/W1984935210","https://openalex.org/W1997543377","https://openalex.org/W1998179438","https://openalex.org/W2001737341","https://openalex.org/W2007864935","https://openalex.org/W2010315317","https://openalex.org/W2036866560","https://openalex.org/W2050810194","https://openalex.org/W2062691475","https://openalex.org/W2072378688","https://openalex.org/W2091539026","https://openalex.org/W2091651498","https://openalex.org/W2091714857","https://openalex.org/W2093654281","https://openalex.org/W2099768828","https://openalex.org/W2100604691","https://openalex.org/W2102899117","https://openalex.org/W2112545207","https://openalex.org/W2113265921","https://openalex.org/W2123687908","https://openalex.org/W2129564505","https://openalex.org/W2132888842","https://openalex.org/W2137592396","https://openalex.org/W2137956165","https://openalex.org/W2143013621","https://openalex.org/W2146766088","https://openalex.org/W2147618425","https://openalex.org/W2161222115","https://openalex.org/W2165698076","https://openalex.org/W2275892128","https://openalex.org/W2487770199","https://openalex.org/W2539678416","https://openalex.org/W2586061285","https://openalex.org/W2942228371","https://openalex.org/W2949924890","https://openalex.org/W2951386724","https://openalex.org/W2962875092","https://openalex.org/W2963115383","https://openalex.org/W2963750880","https://openalex.org/W2963983021","https://openalex.org/W2964275488","https://openalex.org/W2964276895","https://openalex.org/W3038506970","https://openalex.org/W4250730422","https://openalex.org/W4298876635","https://openalex.org/W4302564868","https://openalex.org/W6674989108","https://openalex.org/W6678165021","https://openalex.org/W6680530925","https://openalex.org/W6681302627","https://openalex.org/W6991122698"],"related_works":["https://openalex.org/W3011973854","https://openalex.org/W2800425800","https://openalex.org/W3207341746","https://openalex.org/W3033909669","https://openalex.org/W3033930778","https://openalex.org/W2889737582","https://openalex.org/W3164133736","https://openalex.org/W1983776203","https://openalex.org/W2967029268","https://openalex.org/W2571024504","https://openalex.org/W3100145165","https://openalex.org/W3089493169","https://openalex.org/W2962812027","https://openalex.org/W2969733916","https://openalex.org/W3200106268","https://openalex.org/W2580080700","https://openalex.org/W3004587862","https://openalex.org/W2948443723","https://openalex.org/W1714604093","https://openalex.org/W2265958237"],"abstract_inverted_index":{"This":[0],"paper":[1],"discusses":[2],"online":[3],"algorithms":[4],"for":[5],"inverse":[6],"dynamics":[7,17],"modeling":[8],"in":[9,34,42,61],"robotics.":[10],"Several":[11],"model":[12,39,97],"classes,":[13],"including":[14],"rigid":[15],"body":[16],"models,":[18],"data-driven":[19],"models":[20,23],"and":[21,49,99],"semiparametric":[22],"(which":[24],"are":[25,32],"combination":[26],"of":[27,89],"the":[28,43,86,90,104],"previous":[29],"two":[30],"classes),":[31],"placed":[33],"a":[35,64],"common":[36],"framework.":[37],"While":[38],"classes":[40,98],"used":[41],"literature":[44],"typically":[45],"exploit":[46],"joint":[47],"velocities":[48],"accelerations,":[50],"which":[51,71],"needs":[52],"to":[53,57],"be":[54],"approximated":[55],"resorting":[56],"numerical":[58],"differentiation":[59],"schemes,":[60],"this":[62,75],"paper,":[63],"new":[65],"\u201cderivative-free\u201d":[66],"(DF)":[67],"framework":[68],"is":[69,93],"proposed,":[70],"does":[72],"not":[73],"require":[74],"preprocessing":[76],"step.":[77],"An":[78],"extensive":[79],"experimental":[80],"study":[81],"with":[82],"real":[83],"data":[84],"from":[85],"right":[87],"arm":[88],"iCub":[91],"robot":[92],"presented,":[94],"comparing":[95],"different":[96],"estimation":[100],"procedures,":[101],"showing":[102],"that":[103],"proposed":[105],"DF":[106],"methods":[107],"outperform":[108],"existing":[109],"methodologies.":[110]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}