{"id":"https://openalex.org/W2470482648","doi":"https://doi.org/10.1109/tie.2016.2588461","title":"Model-Free Robust Adaptive Control of Humanoid Robots With Flexible Joints","display_name":"Model-Free Robust Adaptive Control of Humanoid Robots With Flexible Joints","publication_year":2016,"publication_date":"2016-07-07","ids":{"openalex":"https://openalex.org/W2470482648","doi":"https://doi.org/10.1109/tie.2016.2588461","mag":"2470482648"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2016.2588461","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2016.2588461","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-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/A5048683108","display_name":"Maolin Jin","orcid":"https://orcid.org/0000-0001-5420-9705"},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Maolin Jin","raw_affiliation_strings":["Korea Institute of Robots and Convergence, Pohang, South Korea"],"affiliations":[{"raw_affiliation_string":"Korea Institute of Robots and Convergence, Pohang, South Korea","institution_ids":["https://openalex.org/I4210096735"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017250304","display_name":"Jinoh Lee","orcid":"https://orcid.org/0000-0002-4901-7095"},"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":"Jinoh Lee","raw_affiliation_strings":["Advanced Robotics Department, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"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":"Nikolaos G. Tsagarakis","raw_affiliation_strings":["Advanced Robotics Department, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5048683108"],"corresponding_institution_ids":["https://openalex.org/I4210096735"],"apc_list":null,"apc_paid":null,"fwci":12.6127,"has_fulltext":false,"cited_by_count":211,"citation_normalized_percentile":{"value":0.99123454,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"64","issue":"2","first_page":"1706","last_page":"1715"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9984999895095825,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9872000217437744,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.819555401802063},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8095650672912598},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5754309892654419},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5632414221763611},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5609280467033386},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5428183078765869},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5162308216094971},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5084713697433472},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4919862449169159},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4907759130001068},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4852464199066162},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4215860068798065},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3393059968948364},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.23760220408439636},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17262139916419983},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15083369612693787},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12342339754104614}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.819555401802063},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8095650672912598},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5754309892654419},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5632414221763611},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5609280467033386},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5428183078765869},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5162308216094971},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5084713697433472},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4919862449169159},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4907759130001068},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4852464199066162},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4215860068798065},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3393059968948364},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.23760220408439636},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17262139916419983},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15083369612693787},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12342339754104614},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tie.2016.2588461","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2016.2588461","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"},{"id":"pmh:oai:pub.librecat.org:2908894","is_oa":false,"landing_page_url":"https://pub.uni-bielefeld.de/record/2908894","pdf_url":null,"source":{"id":"https://openalex.org/S4306401671","display_name":"PUB \u2013 Publications at Bielefeld University (Bielefeld University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I20121455","host_organization_name":"Bielefeld University","host_organization_lineage":["https://openalex.org/I20121455"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Jin M, Lee J, Tsagarakis NG. Model-free Robust Adaptive Control of Humanoid Robots with Flexible Joints. &lt;em&gt;IEEE Transactions on Industrial Electronics&lt;/em&gt;. 2017.","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7900000214576721}],"awards":[{"id":"https://openalex.org/G1656051592","display_name":null,"funder_award_id":"10047635","funder_id":"https://openalex.org/F4320334879","funder_display_name":"Korea Evaluation Institute of Industrial Technology"},{"id":"https://openalex.org/G8061474757","display_name":null,"funder_award_id":"H2020-ICT-23-2014 No. 644727","funder_id":"https://openalex.org/F4320332197","funder_display_name":"Directorate-General for Research and Innovation"},{"id":"https://openalex.org/G8737811778","display_name":null,"funder_award_id":"FP7-ICT-2013-10 No. 611832","funder_id":"https://openalex.org/F4320332197","funder_display_name":"Directorate-General for Research and Innovation"}],"funders":[{"id":"https://openalex.org/F4320332197","display_name":"Directorate-General for Research and Innovation","ror":"https://ror.org/01ef4as46"},{"id":"https://openalex.org/F4320334879","display_name":"Korea Evaluation Institute of Industrial Technology","ror":"https://ror.org/03z9cwa38"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1581909396","https://openalex.org/W1955880755","https://openalex.org/W1965778174","https://openalex.org/W1967566180","https://openalex.org/W1972518516","https://openalex.org/W1980065440","https://openalex.org/W1984689183","https://openalex.org/W1995343612","https://openalex.org/W1999106229","https://openalex.org/W2008418625","https://openalex.org/W2018257502","https://openalex.org/W2019176570","https://openalex.org/W2025021079","https://openalex.org/W2043440326","https://openalex.org/W2068027769","https://openalex.org/W2074465517","https://openalex.org/W2097670366","https://openalex.org/W2102542760","https://openalex.org/W2109239614","https://openalex.org/W2111263653","https://openalex.org/W2111559201","https://openalex.org/W2112511488","https://openalex.org/W2113706371","https://openalex.org/W2119171960","https://openalex.org/W2122827816","https://openalex.org/W2123926537","https://openalex.org/W2125286642","https://openalex.org/W2126553772","https://openalex.org/W2130329603","https://openalex.org/W2136932226","https://openalex.org/W2142992961","https://openalex.org/W2144782780","https://openalex.org/W2152957885","https://openalex.org/W2153463745","https://openalex.org/W2156698503","https://openalex.org/W2157110801","https://openalex.org/W2158121031","https://openalex.org/W2163614368","https://openalex.org/W2163665518","https://openalex.org/W2167054844","https://openalex.org/W2168397056","https://openalex.org/W2169440744","https://openalex.org/W2171263295","https://openalex.org/W2245746190","https://openalex.org/W2343693428","https://openalex.org/W6683415551"],"related_works":["https://openalex.org/W1844105025","https://openalex.org/W2108470770","https://openalex.org/W1512021029","https://openalex.org/W1972862722","https://openalex.org/W2281732014","https://openalex.org/W2063351494","https://openalex.org/W1562326332","https://openalex.org/W2319803529","https://openalex.org/W1550017747","https://openalex.org/W2969358681"],"abstract_inverted_index":{"A":[0,49],"model-free":[1],"robust":[2],"adaptive":[3,100,118],"controller":[4,17,62,101],"is":[5,52,102,134],"proposed":[6,16,61,99,131],"for":[7],"control":[8,93,132],"of":[9,59,66,84,97,115,124],"humanoid":[10,107],"robots":[11],"with":[12,110],"flexible":[13,111],"joints.":[14,112],"The":[15,74,95,130],"uses":[18,77],"a":[19,46,78,106],"time-delay":[20],"estimation":[21],"technique":[22],"to":[23,36,54,81],"estimate":[24],"and":[25,40,70,88,91,138],"cancel":[26],"nonlinear":[27],"terms":[28],"in":[29],"robot":[30,108],"dynamics":[31,43],"including":[32],"disturbance":[33],"torques":[34],"due":[35],"the":[37,57,60,64,67,71,85,98,116,125],"joint":[38],"flexibility,":[39],"assigns":[41],"desired":[42],"specified":[44],"by":[45],"sliding":[47,68],"variable.":[48],"gain-adaptation":[50,75],"law":[51,76],"developed":[53],"dynamically":[55],"update":[56],"gain":[58,72,86,119],"using":[63],"magnitude":[65],"variable":[69],"itself.":[73],"leakage":[79],"term":[80],"prevent":[82],"overestimation":[83],"value,":[87],"offers":[89],"stable":[90],"chattering-free":[92],"action.":[94],"effectiveness":[96],"experimentally":[103],"verified":[104],"on":[105],"equipped":[109],"Tracking":[113],"performances":[114],"autotuned":[117],"are":[120],"better":[121],"than":[122],"those":[123],"manually":[126],"tuned":[127],"constant":[128],"gains.":[129],"algorithm":[133],"model-free,":[135],"adaptive,":[136],"robust,":[137],"highly":[139],"accurate.":[140]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":18},{"year":2022,"cited_by_count":25},{"year":2021,"cited_by_count":31},{"year":2020,"cited_by_count":27},{"year":2019,"cited_by_count":36},{"year":2018,"cited_by_count":23},{"year":2017,"cited_by_count":13}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
