{"id":"https://openalex.org/W4365801536","doi":"https://doi.org/10.1109/tsmc.2023.3262954","title":"Self-Correcting Quadratic Programming-Based Robot Control","display_name":"Self-Correcting Quadratic Programming-Based Robot Control","publication_year":2023,"publication_date":"2023-04-14","ids":{"openalex":"https://openalex.org/W4365801536","doi":"https://doi.org/10.1109/tsmc.2023.3262954"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2023.3262954","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2023.3262954","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":true,"oa_status":"green","oa_url":"https://infoscience.epfl.ch/bitstreams/abb23ca2-1ce5-4571-8896-54e78f36cfa1/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086124343","display_name":"Farshad Khadivar","orcid":"https://orcid.org/0000-0003-3519-3052"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Farshad Khadivar","raw_affiliation_strings":["Swiss Federal School of Technology in Lausanne, LASA, Lausanne, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-3519-3052","affiliations":[{"raw_affiliation_string":"Swiss Federal School of Technology in Lausanne, LASA, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048630321","display_name":"Konstantinos Chatzilygeroudis","orcid":"https://orcid.org/0000-0003-3585-1027"},"institutions":[{"id":"https://openalex.org/I120729142","display_name":"Computer Technology Institute and Press \u201cDIOPHANTUS\u201d","ror":"https://ror.org/021nszj63","country_code":"GR","type":"facility","lineage":["https://openalex.org/I120729142","https://openalex.org/I4210154149"]},{"id":"https://openalex.org/I174878644","display_name":"University of Patras","ror":"https://ror.org/017wvtq80","country_code":"GR","type":"education","lineage":["https://openalex.org/I174878644"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Konstantinos Chatzilygeroudis","raw_affiliation_strings":["Computer Technology Institute and Press ”Diophantus,”, Patras, Greece","Computer Engineering and Informatics Department, University of Patras, Patras, Greece"],"raw_orcid":"https://orcid.org/0000-0003-3585-1027","affiliations":[{"raw_affiliation_string":"Computer Technology Institute and Press ”Diophantus,”, Patras, Greece","institution_ids":["https://openalex.org/I120729142"]},{"raw_affiliation_string":"Computer Engineering and Informatics Department, University of Patras, Patras, Greece","institution_ids":["https://openalex.org/I174878644"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090592452","display_name":"Aude Billard","orcid":"https://orcid.org/0000-0002-7076-8010"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Aude Billard","raw_affiliation_strings":["Swiss Federal School of Technology in Lausanne, LASA, Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Swiss Federal School of Technology in Lausanne, LASA, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4337,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.7960139,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"53","issue":"8","first_page":"5236","last_page":"5247"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9864000082015991,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9589999914169312,"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/control-theory","display_name":"Control theory (sociology)","score":0.6374655365943909},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6132035255432129},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6042677760124207},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.5791354179382324},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.5500718951225281},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5234622359275818},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.5203016400337219},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5094311833381653},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5052922368049622},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4479312002658844},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4376174211502075},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4271262288093567},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37198641896247864},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22654607892036438},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.19553828239440918},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1820182204246521},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.1316816210746765},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11382916569709778},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.10902100801467896}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6374655365943909},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6132035255432129},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6042677760124207},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.5791354179382324},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.5500718951225281},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5234622359275818},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.5203016400337219},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5094311833381653},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5052922368049622},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4479312002658844},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4376174211502075},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4271262288093567},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37198641896247864},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22654607892036438},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.19553828239440918},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1820182204246521},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.1316816210746765},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11382916569709778},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.10902100801467896},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tsmc.2023.3262954","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2023.3262954","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:infoscience.epfl.ch:301975","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/196990","pdf_url":"https://infoscience.epfl.ch/bitstreams/abb23ca2-1ce5-4571-8896-54e78f36cfa1/download","source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"research article"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:301975","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/196990","pdf_url":"https://infoscience.epfl.ch/bitstreams/abb23ca2-1ce5-4571-8896-54e78f36cfa1/download","source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"research article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8299999833106995,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G8942146408","display_name":null,"funder_award_id":"741945","funder_id":"https://openalex.org/F4320334678","funder_display_name":"European Research Council"}],"funders":[{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4365801536.pdf"},"referenced_works_count":55,"referenced_works":["https://openalex.org/W234738007","https://openalex.org/W648594167","https://openalex.org/W1499277207","https://openalex.org/W1571870753","https://openalex.org/W1606738297","https://openalex.org/W1661823234","https://openalex.org/W1945123189","https://openalex.org/W1964965610","https://openalex.org/W1983706851","https://openalex.org/W1997543377","https://openalex.org/W1998179438","https://openalex.org/W2010209632","https://openalex.org/W2018571963","https://openalex.org/W2018705428","https://openalex.org/W2018860673","https://openalex.org/W2019606703","https://openalex.org/W2085330455","https://openalex.org/W2116341587","https://openalex.org/W2150317946","https://openalex.org/W2151088727","https://openalex.org/W2153202134","https://openalex.org/W2160049112","https://openalex.org/W2164032318","https://openalex.org/W2164288353","https://openalex.org/W2316891197","https://openalex.org/W2344646526","https://openalex.org/W2380258564","https://openalex.org/W2388591084","https://openalex.org/W2390714945","https://openalex.org/W2413574446","https://openalex.org/W2414007181","https://openalex.org/W2527988986","https://openalex.org/W2534940387","https://openalex.org/W2545425704","https://openalex.org/W2588016079","https://openalex.org/W2604883922","https://openalex.org/W2772730941","https://openalex.org/W2783702722","https://openalex.org/W2793955514","https://openalex.org/W2810548302","https://openalex.org/W2890159875","https://openalex.org/W2900391154","https://openalex.org/W2913114903","https://openalex.org/W2951171829","https://openalex.org/W2962812027","https://openalex.org/W2997896361","https://openalex.org/W3102051120","https://openalex.org/W3161411321","https://openalex.org/W3185099629","https://openalex.org/W3194733831","https://openalex.org/W3195146316","https://openalex.org/W4211049957","https://openalex.org/W4243385754","https://openalex.org/W6684180196","https://openalex.org/W6798765931"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2543019745","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W2088677124","https://openalex.org/W2026275902","https://openalex.org/W2687915465","https://openalex.org/W3142528978"],"abstract_inverted_index":{"Quadratic":[0],"programming":[1],"(QP)-based":[2],"controllers":[3,50,65,139],"allow":[4],"many":[5],"robotic":[6,158,208,213],"systems,":[7],"such":[8],"as":[9],"humanoids,":[10],"to":[11,46,51,61,84,131,171],"successfully":[12],"undertake":[13],"complex":[14],"motions":[15],"and":[16,32,42,74,89,106,120,128,140,187],"interactions.":[17],"However,":[18],"these":[19],"approaches":[20],"rely":[21],"heavily":[22],"on":[23],"adequately":[24],"capturing":[25],"the":[26,30,33,81,103,116,133,145,181,185,188,192,218,221],"underlying":[27],"model":[28,54,73,87,101,182,219],"of":[29,125,136,164,220],"environment":[31,222],"robot\u2019s":[34],"dynamics.":[35],"This":[36],"assumption,":[37],"nevertheless,":[38],"is":[39,227],"rarely":[40],"satisfied,":[41],"we":[43,59,94,151,201],"usually":[44],"turn":[45],"well-tuned":[47],"end-effector":[48,137],"PD":[49],"compensate":[52],"for":[53,86,179],"mismatches.":[55],"In":[56,92,149],"this":[57],"article,":[58],"propose":[60],"augment":[62],"traditional":[63],"QP-based":[64,129],"with":[66],"a":[67,98,122,162,169,172,176,211],"learned":[68],"residual":[69,99,146],"inverse":[70],"dynamics":[71,147],"(IDs)":[72],"an":[75],"adaptive":[76,126],"control":[77,127],"law":[78],"that":[79,110],"adjusts":[80],"QP":[82],"online":[83],"account":[85],"uncertainties":[88],"unforeseen":[90],"disturbances.":[91],"particular,":[93],"propose:":[95],"1)":[96],"learning":[97,144],"IDs":[100],"using":[102],"Gaussian":[104],"Process":[105],"linearizing":[107],"it":[108,111],"so":[109],"can":[112],"be":[113],"incorporated":[114],"inside":[115],"QP-control":[117],"optimization":[118],"procedure":[119],"2)":[121],"novel":[123],"combination":[124],"methods":[130],"avoid":[132],"manual":[134],"tuning":[135],"PID":[138],"faster":[141],"convergence":[142],"in":[143,156,191,206],"model.":[148],"simulation,":[150],"extensively":[152],"evaluate":[153],"our":[154,204],"method":[155],"several":[157],"scenarios":[159,209],"ranging":[160],"from":[161],"7-degrees":[163],"freedom":[165],"(DoFs)":[166],"manipulator":[167],"tracking":[168],"trajectory":[170],"humanoid":[173],"robot":[174],"performing":[175],"waving":[177],"motion":[178],"which":[180],"used":[183,190],"by":[184],"controller":[186],"one":[189],"simulated":[193],"world":[194],"do":[195],"not":[196,228],"match":[197],"(unmodeled":[198],"dynamics).":[199],"Finally,":[200],"also":[202],"validate":[203],"approach":[205],"physical":[207],"where":[210,217],"7-DoFs":[212],"arm":[214],"performs":[215],"tasks":[216],"(mass,":[223],"friction":[224],"coefficients,":[225],"etc.)":[226],"fully":[229],"known.":[230]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3}],"updated_date":"2026-06-12T08:23:45.883708","created_date":"2025-10-10T00:00:00"}