{"id":"https://openalex.org/W1575389336","doi":"https://doi.org/10.1109/robot.1990.126224","title":"Robustness of learning control for robot manipulators","display_name":"Robustness of learning control for robot manipulators","publication_year":2002,"publication_date":"2002-12-04","ids":{"openalex":"https://openalex.org/W1575389336","doi":"https://doi.org/10.1109/robot.1990.126224","mag":"1575389336"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1990.126224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1990.126224","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings., IEEE International Conference on Robotics and Automation","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/A5110461849","display_name":"S. Arimoto","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"S. Arimoto","raw_affiliation_strings":["Department of Mathematical Engineering and Information Physics Faculty of Engineering, University of Tokyo, Bunkyo, Tokyo, Japan","Dept. of Math. Eng. & Inf. Phys., Tokyo Univ., Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mathematical Engineering and Information Physics Faculty of Engineering, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Dept. of Math. Eng. & Inf. Phys., Tokyo Univ., Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5110461849"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":15.1666,"has_fulltext":false,"cited_by_count":94,"citation_normalized_percentile":{"value":0.99283327,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1528","last_page":"1533"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":1.0,"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/T11749","display_name":"Iterative Learning Control Systems","score":1.0,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.989799976348877,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9837999939918518,"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/robustness","display_name":"Robustness (evolution)","score":0.8149152398109436},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.7497974634170532},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.6067157983779907},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5988859534263611},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5440191626548767},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.528777003288269},{"id":"https://openalex.org/keywords/forgetting","display_name":"Forgetting","score":0.5267490744590759},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5245416760444641},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4976647198200226},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.4567566514015198},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.44095373153686523},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2230353057384491}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8149152398109436},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.7497974634170532},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.6067157983779907},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5988859534263611},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5440191626548767},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.528777003288269},{"id":"https://openalex.org/C7149132","wikidata":"https://www.wikidata.org/wiki/Q1377840","display_name":"Forgetting","level":2,"score":0.5267490744590759},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5245416760444641},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4976647198200226},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.4567566514015198},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.44095373153686523},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2230353057384491},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1990.126224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1990.126224","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings., IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.4300000071525574,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1527910314","https://openalex.org/W1845648924","https://openalex.org/W2001123678","https://openalex.org/W2040363089","https://openalex.org/W2044776693","https://openalex.org/W2048603489","https://openalex.org/W2122041352","https://openalex.org/W2130480081","https://openalex.org/W2146018215","https://openalex.org/W2146396918","https://openalex.org/W2717489078"],"related_works":["https://openalex.org/W4289718052","https://openalex.org/W2164121020","https://openalex.org/W2145559838","https://openalex.org/W3116498279","https://openalex.org/W4287549553","https://openalex.org/W3176564347","https://openalex.org/W2761624296","https://openalex.org/W4234600408","https://openalex.org/W2128997828","https://openalex.org/W1862849712"],"abstract_inverted_index":{"A":[0],"class":[1],"of":[2,15,18,24,37,64,74,77,83,96,103],"simple":[3],"learning":[4,40],"control":[5,23,41],"algorithms":[6],"having":[7],"a":[8,39,62,92],"forgetting":[9,98],"factor":[10,99],"but":[11],"not":[12],"making":[13],"use":[14],"the":[16,65,75,81,97,101],"derivative":[17],"velocity":[19],"signals":[20],"for":[21,94],"motion":[22,58],"robot":[25],"manipulators":[26],"is":[27,33,52,55],"proposed,":[28],"and":[29,49,68,86],"its":[30],"convergence":[31],"property":[32],"discussed.":[34],"The":[35],"robustness":[36],"such":[38],"scheme":[42],"with":[43],"respect":[44],"to":[45,61,80],"initialization":[46,84],"errors,":[47],"disturbances,":[48],"measurement":[50],"noise":[51],"studied.":[53],"It":[54],"proved":[56],"that":[57],"trajectories":[59],"converge":[60],"neighborhood":[63],"desired":[66],"trajectory":[67],"eventually":[69],"remain":[70],"in":[71,100],"it.":[72],"Relationships":[73],"size":[76],"attraction":[78],"neighborhoods":[79],"magnitudes":[82],"errors":[85],"other":[87],"disturbances":[88],"are":[89],"obtained,":[90],"suggesting":[91],"rule":[93],"selection":[95],"progress":[102],"learning.<":[104],"<ETX":[105],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[106],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">&gt;</ETX>":[107]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}