{"id":"https://openalex.org/W4313890019","doi":"https://doi.org/10.3389/fnbot.2022.1099656","title":"Actuation delay compensation of robots in semi-physical test","display_name":"Actuation delay compensation of robots in semi-physical test","publication_year":2023,"publication_date":"2023-01-09","ids":{"openalex":"https://openalex.org/W4313890019","doi":"https://doi.org/10.3389/fnbot.2022.1099656","pmid":"https://pubmed.ncbi.nlm.nih.gov/36699951"},"language":"en","primary_location":{"id":"doi:10.3389/fnbot.2022.1099656","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fnbot.2022.1099656","pdf_url":"https://www.frontiersin.org/articles/10.3389/fnbot.2022.1099656/pdf","source":{"id":"https://openalex.org/S115606517","display_name":"Frontiers in Neurorobotics","issn_l":"1662-5218","issn":["1662-5218"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Neurorobotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/articles/10.3389/fnbot.2022.1099656/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100320872","display_name":"Xiao Zhang","orcid":"https://orcid.org/0000-0002-3022-2830"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Zhang","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100389176","display_name":"Yun He","orcid":"https://orcid.org/0000-0003-2141-0028"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun He","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100308769","display_name":"Xu Zhigang","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhigang Xu","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108054659","display_name":"Zainan Jiang","orcid":"https://orcid.org/0000-0001-5640-7190"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zainan Jiang","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048329712","display_name":"Yong Liu","orcid":"https://orcid.org/0000-0002-8673-8895"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Liu","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112932722","display_name":"Wenbo Feng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wenbo Feng","raw_affiliation_strings":["Institute of Aerospace System Engineering Shanghai, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Institute of Aerospace System Engineering Shanghai, Shanghai, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060954190","display_name":"Junwu Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Junwu Wu","raw_affiliation_strings":["Institute of Aerospace System Engineering Shanghai, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Institute of Aerospace System Engineering Shanghai, Shanghai, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100308769","https://openalex.org/A5108054659"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I204983213","https://openalex.org/I4391767639"],"apc_list":{"value":2950,"currency":"USD","value_usd":2950},"apc_paid":{"value":2950,"currency":"USD","value_usd":2950},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00129601,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"16","issue":null,"first_page":"1099656","last_page":"1099656"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9973000288009644,"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"}},"topics":[{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9973000288009644,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9958000183105469,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9833999872207642,"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/computer-science","display_name":"Computer science","score":0.7984175682067871},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7074135541915894},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6196964979171753},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5755637884140015},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.537695050239563},{"id":"https://openalex.org/keywords/spacecraft","display_name":"Spacecraft","score":0.507276713848114},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43401193618774414},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3823871314525604},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3593441843986511},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16115090250968933},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11303704977035522},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08497509360313416}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7984175682067871},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7074135541915894},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6196964979171753},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5755637884140015},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.537695050239563},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.507276713848114},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43401193618774414},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3823871314525604},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3593441843986511},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16115090250968933},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11303704977035522},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08497509360313416},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3389/fnbot.2022.1099656","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fnbot.2022.1099656","pdf_url":"https://www.frontiersin.org/articles/10.3389/fnbot.2022.1099656/pdf","source":{"id":"https://openalex.org/S115606517","display_name":"Frontiers in Neurorobotics","issn_l":"1662-5218","issn":["1662-5218"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Neurorobotics","raw_type":"journal-article"},{"id":"pmid:36699951","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36699951","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in neurorobotics","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:9868644","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9868644","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC9868644/pdf/fnbot-16-1099656.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Neurorobot","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:cef47da72a104d9e8af48915be9d178f","is_oa":true,"landing_page_url":"https://doaj.org/article/cef47da72a104d9e8af48915be9d178f","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Neurorobotics, Vol 16 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3389/fnbot.2022.1099656","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fnbot.2022.1099656","pdf_url":"https://www.frontiersin.org/articles/10.3389/fnbot.2022.1099656/pdf","source":{"id":"https://openalex.org/S115606517","display_name":"Frontiers in Neurorobotics","issn_l":"1662-5218","issn":["1662-5218"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Neurorobotics","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.550000011920929,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4313890019.pdf"},"referenced_works_count":19,"referenced_works":["https://openalex.org/W210469294","https://openalex.org/W1991899517","https://openalex.org/W2022157312","https://openalex.org/W2066534611","https://openalex.org/W2086221152","https://openalex.org/W2161904416","https://openalex.org/W2989269313","https://openalex.org/W2991063560","https://openalex.org/W3003820461","https://openalex.org/W3157610864","https://openalex.org/W4225341272","https://openalex.org/W4226105903","https://openalex.org/W4226397702","https://openalex.org/W4229439700","https://openalex.org/W4296269843","https://openalex.org/W4309923758","https://openalex.org/W4313065629","https://openalex.org/W6608534947","https://openalex.org/W6846994685"],"related_works":["https://openalex.org/W2898860390","https://openalex.org/W2734340365","https://openalex.org/W2118489026","https://openalex.org/W2237025049","https://openalex.org/W4377236356","https://openalex.org/W4386105384","https://openalex.org/W4384162131","https://openalex.org/W2400737216","https://openalex.org/W4387655846","https://openalex.org/W2372125609"],"abstract_inverted_index":{"In":[0,43],"general,":[1],"the":[2,9,35,68,88,91,102],"traditional":[3,69],"spacecraft":[4],"semi-physical":[5,41],"docking":[6,12,48],"tests":[7,18],"include":[8],"evaluation":[10],"of":[11,40,111],"and":[13,29,62,76],"separation":[14],"performance.":[15,89],"However,":[16],"these":[17],"often":[19],"rely":[20],"on":[21,54],"\"specific\"":[22],"equipment,":[23],"such":[24],"as":[25],"specially":[26],"designed":[27,52],"actuators":[28],"fast-response":[30],"hydraulic":[31],"systems,":[32],"to":[33,86],"meet":[34],"stringent":[36],"dynamic":[37],"response":[38],"requirements":[39],"testing.":[42],"this":[44,71],"paper,":[45],"a":[46,55],"novel":[47,72,103],"test":[49],"platform":[50,73],"is":[51,74,84,94,105],"based":[53],"general-purpose":[56],"industrial":[57],"manipulator":[58],"using":[59,96],"3-D":[60,63],"force":[61],"torque":[64],"sensors.":[65],"Different":[66],"from":[67],"solution,":[70],"well-assembled":[75],"cost-effective.":[77],"Furthermore,":[78],"an":[79],"actuation":[80,112],"delay":[81,113],"compensation":[82],"method":[83,93,104],"introduced":[85],"improve":[87],"Finally,":[90],"proposed":[92],"evaluated":[95],"simulations.":[97],"The":[98],"results":[99],"show":[100],"that":[101],"with":[106],"promising":[107],"performance":[108],"in":[109],"terms":[110],"compensation.":[114]},"counts_by_year":[],"updated_date":"2026-01-21T23:30:37.877113","created_date":"2025-10-10T00:00:00"}
