{"id":"https://openalex.org/W6884610969","doi":"https://doi.org/10.1109/tim.2025.3554883","title":"Identifying Current Dynamics of Robot Payload Based on Iterative Weighting Estimation","display_name":"Identifying Current Dynamics of Robot Payload Based on Iterative Weighting Estimation","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W6884610969","doi":"https://doi.org/10.1109/tim.2025.3554883"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2025.3554883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3554883","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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":null,"display_name":"Tian Xu","orcid":"https://orcid.org/0000-0002-9486-9609"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tian Xu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-9486-9609","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hua Tuo","orcid":"https://orcid.org/0009-0004-0570-3706"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hua Tuo","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0004-0570-3706","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Shuyi Song","orcid":"https://orcid.org/0009-0000-6485-5620"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuyi Song","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0000-6485-5620","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chengzhi Wang","orcid":"https://orcid.org/0000-0003-0308-5604"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengzhi Wang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-0308-5604","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jizhuang Fan","orcid":"https://orcid.org/0000-0002-4527-932X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jizhuang Fan","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-4527-932X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yanhe Zhu","orcid":"https://orcid.org/0000-0002-1960-6278"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanhe Zhu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-1960-6278","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":null,"display_name":"Jie Zhao","orcid":"https://orcid.org/0000-0002-6086-9387"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-6086-9387","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":1.0999,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.84192265,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"74","issue":null,"first_page":"1","last_page":"14"},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.3862000107765198,"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":0.3862000107765198,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.17829999327659607,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.1573999971151352,"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/payload","display_name":"Payload (computing)","score":0.8628000020980835},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7475000023841858},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7440999746322632},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.5748000144958496},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5648999810218811},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5080999732017517},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.4875999987125397},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4309000074863434}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.8628000020980835},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7475000023841858},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7440999746322632},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.5748000144958496},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5648999810218811},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5080999732017517},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49070000648498535},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.4875999987125397},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4309000074863434},{"id":"https://openalex.org/C148043351","wikidata":"https://www.wikidata.org/wiki/Q4456944","display_name":"Current (fluid)","level":2,"score":0.4178999960422516},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4000000059604645},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3984000086784363},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.39500001072883606},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.3346000015735626},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.31679999828338623},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.29750001430511475},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.28369998931884766},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.26989999413490295},{"id":"https://openalex.org/C15777418","wikidata":"https://www.wikidata.org/wiki/Q1552626","display_name":"Mechanical joint","level":3,"score":0.2603999972343445}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2025.3554883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3554883","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2230282603","display_name":null,"funder_award_id":"SKLRS202411B","funder_id":"https://openalex.org/F4320327001","funder_display_name":"State Key Laboratory of Robotics and System"},{"id":"https://openalex.org/G8446001000","display_name":null,"funder_award_id":"2023YFB4703800","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320327001","display_name":"State Key Laboratory of Robotics and System","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1964511224","https://openalex.org/W1983573679","https://openalex.org/W2001524797","https://openalex.org/W2057059043","https://openalex.org/W2078856056","https://openalex.org/W2097687117","https://openalex.org/W2214212631","https://openalex.org/W2471547622","https://openalex.org/W2773771478","https://openalex.org/W2889571560","https://openalex.org/W2895885020","https://openalex.org/W2937389581","https://openalex.org/W2951633861","https://openalex.org/W2967173189","https://openalex.org/W2991572051","https://openalex.org/W3023141614","https://openalex.org/W3024094413","https://openalex.org/W3027314477","https://openalex.org/W3034391145","https://openalex.org/W3129083389","https://openalex.org/W4205942557","https://openalex.org/W4244912679","https://openalex.org/W4282842355","https://openalex.org/W4285590280","https://openalex.org/W4382461401","https://openalex.org/W4390120031","https://openalex.org/W4392567312","https://openalex.org/W4395688933","https://openalex.org/W4402300308","https://openalex.org/W4402516084"],"related_works":[],"abstract_inverted_index":{"Accurate":[0],"payload":[1,20,76,88,141,177],"dynamics":[2,89,197],"benefit":[3],"robotic":[4],"applications,":[5],"such":[6],"as":[7],"model-based":[8],"control.":[9],"However,":[10],"existing":[11],"methods":[12,104],"rely":[13],"on":[14,199],"joint":[15,30,46,56,64,91,95,108,116,124,132],"torque":[16,31,47,57,65,125],"signals":[17],"for":[18,75,87,176,192],"identifying":[19],"dynamics.":[21,77,142,160,182,222],"For":[22],"these":[23],"robots":[24],"that":[25,105],"are":[26,226],"not":[27],"equipped":[28],"with":[29,233],"sensors,":[32],"the":[33,40,50,71,110,120,128,136,144,147,157,194,218,230,238,241,244],"torques":[34,96],"can":[35,59],"be":[36],"determined":[37],"merely":[38],"via":[39],"multiplication":[41],"of":[42,55,123,131,146,220,243],"actuator":[43],"currents":[44,92],"and":[45,52,127,214,237],"constants.":[48],"Unfortunately,":[49],"uncertainty":[51],"identification":[53,73,86,121,138,178,190,219],"errors":[54,74,122,130,139],"constants":[58,126],"lead":[60],"to":[61,85,155,171,180,187,206,217,228],"deviations":[62],"in":[63,68,99,140],"estimation,":[66],"which,":[67],"turn,":[69],"increases":[70],"cumulative":[72,137],"To":[78,143],"tackle":[79],"this":[80,100],"problem,":[81],"a":[82,173,208],"new":[83],"approach":[84,232],"employing":[90],"rather":[93],"than":[94],"is":[97,151,170,186,205],"developed":[98],"article.":[101],"Unlike":[102],"traditional":[103],"use":[106],"estimated":[107],"torques,":[109,133],"proposed":[111,231,245],"method":[112,191],"only":[113],"uses":[114],"measured":[115],"currents.":[117],"It":[118],"avoids":[119],"estimation":[129],"thereby":[134],"reducing":[135],"best":[145],"authors\u2019":[148],"knowledge,":[149],"it":[150,216],"an":[152,189],"initial":[153],"effort":[154],"identify":[156],"payload\u2019s":[158,195],"current":[159,181,196,221],"This":[161],"article":[162],"has":[163],"four":[164,234],"main":[165],"contributions.":[166],"The":[167,183,202],"first":[168],"one":[169,185,204],"develop":[172],"novel":[174],"model":[175,213],"according":[179],"second":[184],"propose":[188],"estimating":[193],"based":[198],"iterative":[200],"weighting.":[201],"third":[203],"integrate":[207],"zero-velocity":[209],"continuous":[210],"nonlinear":[211],"friction":[212],"apply":[215],"Ultimately,":[223],"experimental":[224],"evaluations":[225],"performed":[227],"compare":[229],"other":[235],"methods,":[236],"results":[239],"demonstrate":[240],"advantages":[242],"approach.":[246]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}