{"id":"https://openalex.org/W2810243131","doi":"https://doi.org/10.1109/codit.2018.8394883","title":"On Inertial Parameter Estimation of a Free-Flying Robot Grasping an Unknown Object","display_name":"On Inertial Parameter Estimation of a Free-Flying Robot Grasping an Unknown Object","publication_year":2018,"publication_date":"2018-04-01","ids":{"openalex":"https://openalex.org/W2810243131","doi":"https://doi.org/10.1109/codit.2018.8394883","mag":"2810243131"},"language":"en","primary_location":{"id":"doi:10.1109/codit.2018.8394883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit.2018.8394883","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 5th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-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/A5002547901","display_name":"Monica Ekal","orcid":null},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Monica Ekal","raw_affiliation_strings":["Insitute for Systems and Robotics, University of Lisbon, Lisbon, Portugal"],"affiliations":[{"raw_affiliation_string":"Insitute for Systems and Robotics, University of Lisbon, Lisbon, Portugal","institution_ids":["https://openalex.org/I141596103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052413681","display_name":"Rodrigo Ventura","orcid":"https://orcid.org/0000-0002-5655-9562"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Rodrigo Ventura","raw_affiliation_strings":["Insitute for Systems and Robotics, University of Lisbon, Lisbon, Portugal"],"affiliations":[{"raw_affiliation_string":"Insitute for Systems and Robotics, University of Lisbon, Lisbon, Portugal","institution_ids":["https://openalex.org/I141596103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5002547901"],"corresponding_institution_ids":["https://openalex.org/I141596103"],"apc_list":null,"apc_paid":null,"fwci":0.6777,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.6961095,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"815","last_page":"821"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12005","display_name":"Spaceflight effects on biology","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2737","display_name":"Physiology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T12005","display_name":"Spaceflight effects on biology","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2737","display_name":"Physiology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10325","display_name":"Astro and Planetary Science","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7582696080207825},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6891446113586426},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.6170072555541992},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.602146327495575},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5614209771156311},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5498504638671875},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5409965515136719},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5229183435440063},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4701899290084839},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4684429466724396},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46366646885871887},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4451672434806824},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4313867390155792},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3448895812034607},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2677490711212158},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20475837588310242},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07720872759819031}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7582696080207825},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6891446113586426},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.6170072555541992},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.602146327495575},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5614209771156311},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5498504638671875},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5409965515136719},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5229183435440063},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4701899290084839},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4684429466724396},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46366646885871887},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4451672434806824},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4313867390155792},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3448895812034607},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2677490711212158},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20475837588310242},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07720872759819031},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/codit.2018.8394883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit.2018.8394883","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 5th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1938096026","https://openalex.org/W1964511224","https://openalex.org/W1977164425","https://openalex.org/W2001524797","https://openalex.org/W2007934578","https://openalex.org/W2023429920","https://openalex.org/W2030839289","https://openalex.org/W2047525345","https://openalex.org/W2063984443","https://openalex.org/W2078856056","https://openalex.org/W2091383025","https://openalex.org/W2127638935","https://openalex.org/W2312336824","https://openalex.org/W2962758717","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2382856674","https://openalex.org/W2762381663","https://openalex.org/W1886477626","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762","https://openalex.org/W2741909783","https://openalex.org/W1979383880"],"abstract_inverted_index":{"The":[0,99],"mobile":[1],"manipulation":[2],"of":[3,22,29,38,50],"arbitrary":[4],"objects":[5],"in":[6,103],"micro-gravity":[7],"by":[8,58],"a":[9,13,79],"free-flying":[10,109],"robot":[11,24,42],"is":[12,19,43,56,101],"challenging":[14],"problem.":[15],"One":[16],"particular":[17],"problem":[18,37],"the":[20,23,36,41,47,51,67,71,106],"control":[21],"after":[25],"grasping":[26,44],"an":[27,45,61],"object":[28],"unknown":[30],"inertial":[31,48,68],"properties.":[32],"This":[33,55],"paper":[34],"addresses":[35],"determining,":[39],"while":[40],"object,":[46],"properties":[49],"resulting":[52],"robot-object":[53],"body.":[54],"done":[57],"first":[59],"optimizing":[60],"exciting":[62],"trajectory,":[63],"and":[64,91],"then":[65],"estimating":[66],"parameters":[69],"from":[70],"executed":[72,92],"trajectory.":[73],"These":[74],"trajectories":[75,93],"are":[76,94],"tracked":[77],"using":[78,96,105],"Nonlinear":[80],"Model":[81],"Predictive":[82],"Control":[83],"(NMPC)":[84],"controller":[85],"with":[86],"actuation":[87],"constraints.":[88],"Both":[89],"planned":[90],"represented":[95],"Fourier":[97],"series.":[98],"approach":[100],"evaluated":[102],"simulation":[104],"Space":[107],"CoBot":[108],"robot.":[110]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
