{"id":"https://openalex.org/W2380258564","doi":"https://doi.org/10.1109/tsmc.2016.2557227","title":"Model Identification and Control Design for a Humanoid Robot","display_name":"Model Identification and Control Design for a Humanoid Robot","publication_year":2016,"publication_date":"2016-05-13","ids":{"openalex":"https://openalex.org/W2380258564","doi":"https://doi.org/10.1109/tsmc.2016.2557227","mag":"2380258564"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2016.2557227","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2016.2557227","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","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/A5022113595","display_name":"Wei He","orcid":"https://orcid.org/0000-0002-8944-9861"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei He","raw_affiliation_strings":["School of Automation and Electrical Engineering and the Key Laboratory of Advanced Control of Iron and Steel Process, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8944-9861","affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering and the Key Laboratory of Advanced Control of Iron and Steel Process, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100847953","display_name":"Weiliang Ge","orcid":null},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiliang Ge","raw_affiliation_strings":["School of Automation Engineering and Center for Robotics, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Engineering and Center for Robotics, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101761584","display_name":"Yunchuan Li","orcid":"https://orcid.org/0009-0000-2292-3082"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunchuan Li","raw_affiliation_strings":["School of Automation Engineering and Center for Robotics, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Engineering and Center for Robotics, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100349652","display_name":"Yan\u2010Jun Liu","orcid":"https://orcid.org/0000-0002-1771-6342"},"institutions":[{"id":"https://openalex.org/I2898894","display_name":"Liaoning University of Technology","ror":"https://ror.org/05ay23762","country_code":"CN","type":"education","lineage":["https://openalex.org/I2898894"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan-Jun Liu","raw_affiliation_strings":["College of Science, Liaoning University of Technology, Jinzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Science, Liaoning University of Technology, Jinzhou, China","institution_ids":["https://openalex.org/I2898894"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I39586589","display_name":"Swansea University","ror":"https://ror.org/053fq8t95","country_code":"GB","type":"education","lineage":["https://openalex.org/I39586589"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["Zienkiewicz Centre for Computational Engineering, Swansea University, Swansea, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zienkiewicz Centre for Computational Engineering, Swansea University, Swansea, U.K","institution_ids":["https://openalex.org/I39586589"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019248683","display_name":"Changyin Sun","orcid":"https://orcid.org/0000-0001-9269-334X"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changyin Sun","raw_affiliation_strings":["School of Automation, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.176,"has_fulltext":false,"cited_by_count":155,"citation_normalized_percentile":{"value":0.99163588,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"47","issue":"1","first_page":"45","last_page":"57"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9995999932289124,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.98089998960495,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.975600004196167,"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/humanoid-robot","display_name":"Humanoid robot","score":0.6981287002563477},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6824604868888855},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.6573957800865173},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5767778158187866},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5609437823295593},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5605000257492065},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.538318932056427},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.4981265068054199},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4460936188697815},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4256635308265686},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4214320778846741},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31314852833747864},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2760542929172516},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.21487414836883545},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1862768828868866}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6981287002563477},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6824604868888855},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.6573957800865173},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5767778158187866},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5609437823295593},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5605000257492065},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.538318932056427},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.4981265068054199},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4460936188697815},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4256635308265686},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4214320778846741},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31314852833747864},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2760542929172516},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.21487414836883545},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1862768828868866},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tsmc.2016.2557227","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2016.2557227","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"},{"id":"pmh:oai:cronfa.swan.ac.uk:cronfa28017","is_oa":false,"landing_page_url":"https://cronfa.swan.ac.uk/Record/cronfa28017","pdf_url":null,"source":{"id":"https://openalex.org/S4306401612","display_name":"Cronfa (Swansea University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I39586589","host_organization_name":"Swansea University","host_organization_lineage":["https://openalex.org/I39586589"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G158389882","display_name":"Versatile and Dexterous Adaptive Control of Dual-Arm Robots for Personalized Assistance","funder_award_id":"EP/L026856/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G325947041","display_name":null,"funder_award_id":"EP/L026856/2","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G3531631904","display_name":"\u5f3a\u6c14\u6d41\u5e72\u6270\u4e0b\u65e0\u4eba\u76f4\u5347\u673a\u81ea\u4e3b\u5bfc\u822a\u4e0e\u63a7\u5236\u7406\u8bba\u548c\u5173\u952e\u6280\u672f\u7814\u7a76","funder_award_id":"61533008","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4635902267","display_name":null,"funder_award_id":"61520106009","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6093090667","display_name":null,"funder_award_id":"2014CB744206","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G8264771511","display_name":null,"funder_award_id":"EP/L026856/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8678354579","display_name":null,"funder_award_id":"61522302","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"},{"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":88,"referenced_works":["https://openalex.org/W315572163","https://openalex.org/W1223467140","https://openalex.org/W1509235676","https://openalex.org/W1519405745","https://openalex.org/W1560270123","https://openalex.org/W1627809465","https://openalex.org/W1919998456","https://openalex.org/W1964511224","https://openalex.org/W1965555825","https://openalex.org/W1970798520","https://openalex.org/W1972972294","https://openalex.org/W1973516904","https://openalex.org/W1976098283","https://openalex.org/W1976424345","https://openalex.org/W1989855774","https://openalex.org/W1990026397","https://openalex.org/W1991360560","https://openalex.org/W1998034343","https://openalex.org/W1999678919","https://openalex.org/W2001524797","https://openalex.org/W2006958879","https://openalex.org/W2013265661","https://openalex.org/W2021572715","https://openalex.org/W2023468600","https://openalex.org/W2023883583","https://openalex.org/W2026504473","https://openalex.org/W2030629074","https://openalex.org/W2034903360","https://openalex.org/W2039683272","https://openalex.org/W2044330174","https://openalex.org/W2045526441","https://openalex.org/W2055478070","https://openalex.org/W2057423886","https://openalex.org/W2058429997","https://openalex.org/W2058907003","https://openalex.org/W2062219372","https://openalex.org/W2074833352","https://openalex.org/W2078013888","https://openalex.org/W2079391994","https://openalex.org/W2082526944","https://openalex.org/W2083483041","https://openalex.org/W2087260217","https://openalex.org/W2089684487","https://openalex.org/W2091914309","https://openalex.org/W2098878508","https://openalex.org/W2102564968","https://openalex.org/W2104719944","https://openalex.org/W2111528514","https://openalex.org/W2112445496","https://openalex.org/W2114847465","https://openalex.org/W2115308069","https://openalex.org/W2117595234","https://openalex.org/W2121578091","https://openalex.org/W2128537505","https://openalex.org/W2131635860","https://openalex.org/W2134034878","https://openalex.org/W2139672536","https://openalex.org/W2144850905","https://openalex.org/W2151764975","https://openalex.org/W2155947439","https://openalex.org/W2156246393","https://openalex.org/W2159778584","https://openalex.org/W2160632603","https://openalex.org/W2163683764","https://openalex.org/W2164136313","https://openalex.org/W2169377118","https://openalex.org/W2193245008","https://openalex.org/W2203022174","https://openalex.org/W2217539471","https://openalex.org/W2253274025","https://openalex.org/W2262108890","https://openalex.org/W2278308097","https://openalex.org/W2291148766","https://openalex.org/W2343238003","https://openalex.org/W2343432705","https://openalex.org/W2343977510","https://openalex.org/W2345111710","https://openalex.org/W2364918774","https://openalex.org/W2372306012","https://openalex.org/W2390714945","https://openalex.org/W2402846924","https://openalex.org/W2408472393","https://openalex.org/W2410943624","https://openalex.org/W3023141614","https://openalex.org/W3159068915","https://openalex.org/W4300106150","https://openalex.org/W6682636358","https://openalex.org/W6682642761"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W2564804538","https://openalex.org/W1974803039","https://openalex.org/W1991876829","https://openalex.org/W2088677124","https://openalex.org/W2026275902"],"abstract_inverted_index":{"In":[0,76],"this":[1],"paper,":[2],"model":[3,13],"identification":[4,111],"and":[5,113],"adaptive":[6,91],"control":[7,92,120],"design":[8,93],"are":[9,82],"performed":[10],"on":[11,20],"Devanit-Hartenberg":[12],"of":[14,23,29,41,50,65,109,118],"a":[15],"humanoid":[16],"robot.":[17],"We":[18],"focus":[19],"the":[21,24,30,38,51,53,63,78,85,89,107,110,116,119],"modeling":[22,49],"6":[25],"degree-of-freedom":[26],"upper":[27],"limb":[28],"robot":[31],"using":[32],"recursive":[33],"Newton-Euler":[34],"(RNE)":[35],"formula":[36],"for":[37,48,88],"coordinate":[39],"frame":[40],"each":[42,66],"joint.":[43],"To":[44],"obtain":[45],"sufficient":[46],"excitation":[47],"robot,":[52],"particle":[54],"swarm":[55],"optimization":[56],"method":[57],"has":[58],"been":[59,102],"employed":[60],"to":[61,94,105,114],"optimize":[62],"trajectory":[64],"joint,":[67],"such":[68],"that":[69],"satisfied":[70],"parameter":[71],"estimation":[72],"can":[73],"be":[74],"obtained.":[75],"addition,":[77],"estimated":[79],"inertia":[80],"parameters":[81],"taken":[83],"as":[84],"initial":[86],"values":[87],"RNE-based":[90],"achieve":[95],"improved":[96],"tracking":[97],"performance.":[98],"Simulation":[99],"studies":[100],"have":[101],"carried":[103],"out":[104],"verify":[106],"result":[108],"algorithm":[112],"illustrate":[115],"effectiveness":[117],"design.":[121]},"counts_by_year":[{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":19},{"year":2019,"cited_by_count":25},{"year":2018,"cited_by_count":18},{"year":2017,"cited_by_count":24},{"year":2016,"cited_by_count":14}],"updated_date":"2026-08-06T08:24:18.245995","created_date":"2025-10-10T00:00:00"}
