{"id":"https://openalex.org/W4229335026","doi":"https://doi.org/10.1142/s1793351x22430036","title":"Flexible-Joint Manipulator Trajectory Tracking with Two-Stage Learned Model Utilizing a Hardwired Forward Dynamics Prediction","display_name":"Flexible-Joint Manipulator Trajectory Tracking with Two-Stage Learned Model Utilizing a Hardwired Forward Dynamics Prediction","publication_year":2022,"publication_date":"2022-05-08","ids":{"openalex":"https://openalex.org/W4229335026","doi":"https://doi.org/10.1142/s1793351x22430036"},"language":"en","primary_location":{"id":"doi:10.1142/s1793351x22430036","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s1793351x22430036","pdf_url":null,"source":{"id":"https://openalex.org/S4210201727","display_name":"International Journal of Semantic Computing","issn_l":"1793-7108","issn":["1793-7108","1793-351X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Semantic Computing","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/A5077737512","display_name":"Dmytro Pavlichenko","orcid":"https://orcid.org/0000-0003-0904-9524"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dmytro Pavlichenko","raw_affiliation_strings":["Autonomous Intelligent Systems, University of Bonn, Bonn, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems, University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027761977","display_name":"Sven Behnke","orcid":"https://orcid.org/0000-0002-5040-7525"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sven Behnke","raw_affiliation_strings":["Autonomous Intelligent Systems, University of Bonn, Bonn, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems, University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.03101166,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"16","issue":"03","first_page":"403","last_page":"423"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9944999814033508,"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"}},"topics":[{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9944999814033508,"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"}},{"id":"https://openalex.org/T12205","display_name":"Time Series Analysis and Forecasting","score":0.9767000079154968,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.9757000207901001,"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/workspace","display_name":"Workspace","score":0.7753770351409912},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7583799362182617},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6207423806190491},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5811477899551392},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5636945962905884},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.559787392616272},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5423269271850586},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5196508169174194},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.491086483001709},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.48774152994155884},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4403223693370819},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.42134928703308105},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.41440698504447937},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4125421941280365},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3383326530456543},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.16568616032600403},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1337253749370575},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12716150283813477},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10771167278289795}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7753770351409912},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7583799362182617},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6207423806190491},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5811477899551392},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5636945962905884},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.559787392616272},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5423269271850586},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5196508169174194},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.491086483001709},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.48774152994155884},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4403223693370819},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.42134928703308105},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.41440698504447937},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4125421941280365},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3383326530456543},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.16568616032600403},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1337253749370575},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12716150283813477},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10771167278289795},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s1793351x22430036","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s1793351x22430036","pdf_url":null,"source":{"id":"https://openalex.org/S4210201727","display_name":"International Journal of Semantic Computing","issn_l":"1793-7108","issn":["1793-7108","1793-351X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Semantic Computing","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5287504387","display_name":null,"funder_award_id":"BE 2556/16-2","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W150814955","https://openalex.org/W1598493736","https://openalex.org/W1689711448","https://openalex.org/W1988707210","https://openalex.org/W2001123678","https://openalex.org/W2008770966","https://openalex.org/W2117378848","https://openalex.org/W2128161194","https://openalex.org/W2131774270","https://openalex.org/W2155295397","https://openalex.org/W2158370675","https://openalex.org/W2242021551","https://openalex.org/W2307770531","https://openalex.org/W2468673050","https://openalex.org/W2535040486","https://openalex.org/W2551393996","https://openalex.org/W2559655401","https://openalex.org/W2612690371","https://openalex.org/W2729047699","https://openalex.org/W2732068557","https://openalex.org/W2765370084","https://openalex.org/W2765713974","https://openalex.org/W2766253699","https://openalex.org/W2771827793","https://openalex.org/W2777236161","https://openalex.org/W2782196292","https://openalex.org/W2783813470","https://openalex.org/W2792852625","https://openalex.org/W2797280915","https://openalex.org/W2889087170","https://openalex.org/W2894417726","https://openalex.org/W2895564045","https://openalex.org/W2908035384","https://openalex.org/W2950552589","https://openalex.org/W2964050632","https://openalex.org/W2967969632","https://openalex.org/W3003426286","https://openalex.org/W3012546009","https://openalex.org/W3043649182","https://openalex.org/W3047385205","https://openalex.org/W3105267091","https://openalex.org/W3110109289","https://openalex.org/W3121573329","https://openalex.org/W3122063555","https://openalex.org/W3129762237","https://openalex.org/W3129904619","https://openalex.org/W3136089337","https://openalex.org/W3138640436","https://openalex.org/W3156506200"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W1964490400","https://openalex.org/W1968518598","https://openalex.org/W229301543","https://openalex.org/W3117511302","https://openalex.org/W2687915465","https://openalex.org/W3142528978"],"abstract_inverted_index":{"Flexible-joint":[0],"manipulators":[1],"are":[2],"frequently":[3],"used":[4],"for":[5],"increased":[6],"safety":[7],"during":[8],"human\u2013robot":[9],"collaboration":[10],"and":[11,28,49,72,93,104,140,150],"shared":[12],"workspace":[13],"tasks.":[14],"However,":[15],"joint":[16,91,136,138],"flexibility":[17],"significantly":[18],"reduces":[19],"the":[20,42,51,89,98,108,116,122,125,129,146],"accuracy":[21,144],"of":[22,45,65,156],"motion,":[23],"especially":[24],"at":[25,54],"high":[26,55],"velocities":[27],"with":[29,154],"inexpensive":[30],"actuators.":[31],"In":[32],"this":[33],"paper,":[34],"we":[35],"present":[36],"a":[37,46,59,66],"learning-based":[38],"approach":[39],"to":[40,87,128],"identify":[41],"unknown":[43],"dynamics":[44,69,75,119],"flexible-joint":[47],"manipulator":[48],"improve":[50],"trajectory":[52],"tracking":[53,143],"velocities.":[56],"We":[57,96,134],"propose":[58],"two-stage":[60],"model":[61,99,123,131],"which":[62],"is":[63,80],"composed":[64],"one-step":[67,117],"forward":[68,118],"future":[70],"predictor":[71],"an":[73],"inverse":[74],"estimator.":[76],"The":[77],"second":[78],"part":[79],"based":[81],"on":[82,101,107],"linear":[83],"time-invariant":[84],"dynamical":[85],"operators":[86],"approximate":[88],"feed-forward":[90],"position":[92,142],"velocity":[94,139],"commands.":[95],"train":[97],"end-to-end":[100],"real-world":[102],"data":[103],"evaluate":[105],"it":[106],"Baxter":[109],"robot.":[110],"Our":[111],"experiments":[112],"indicate":[113],"that":[114],"hard-wiring":[115],"prediction":[120],"into":[121],"improves":[124],"performance,":[126],"compared":[127],"same":[130],"without":[132],"prediction.":[133],"compare":[135],"position,":[137],"end-effector":[141],"against":[145],"classical":[147],"baseline":[148],"controller":[149],"several":[151],"simpler":[152],"models":[153],"payloads":[155],"variable":[157],"weight.":[158]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
