{"id":"https://openalex.org/W7161579367","doi":"https://doi.org/10.48550/arxiv.2605.15949","title":"A Reproducible and Physically Feasible Dynamic Parameter Identification Framework for a Low-Cost Robot Arm","display_name":"A Reproducible and Physically Feasible Dynamic Parameter Identification Framework for a Low-Cost Robot Arm","publication_year":2026,"publication_date":"2026-05-15","ids":{"openalex":"https://openalex.org/W7161579367","doi":"https://doi.org/10.48550/arxiv.2605.15949"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.15949","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.15949","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.15949","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5110468606","display_name":"Junji Oaki","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Oaki, Junji","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101823225","display_name":"Koki Yamane","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yamane, Koki","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104288245","display_name":"Koki Inami","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Inami, Koki","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5065050034","display_name":"Sho Sakaino","orcid":"https://orcid.org/0000-0002-5182-5649"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sakaino, Sho","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.7121999859809875,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.7121999859809875,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.08550000190734863,"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/T13644","display_name":"Control Systems in Engineering","score":0.0494999997317791,"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/pipeline","display_name":"Pipeline (software)","score":0.6496999859809875},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6176999807357788},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.5924000144004822},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5891000032424927},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.4839000105857849},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.4742000102996826},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44119998812675476},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.4081999957561493},{"id":"https://openalex.org/keywords/system-identification","display_name":"System identification","score":0.39399999380111694}],"concepts":[{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6496999859809875},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6176999807357788},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6134999990463257},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.5924000144004822},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5891000032424927},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.4839000105857849},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.4742000102996826},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44119998812675476},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42500001192092896},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.4081999957561493},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.39399999380111694},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.35100001096725464},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.33059999346733093},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.31279999017715454},{"id":"https://openalex.org/C9936470","wikidata":"https://www.wikidata.org/wiki/Q6510405","display_name":"Least-squares function approximation","level":3,"score":0.30090001225471497},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.2944999933242798},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.29330000281333923},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.28850001096725464},{"id":"https://openalex.org/C27438332","wikidata":"https://www.wikidata.org/wiki/Q2873","display_name":"Principal component analysis","level":2,"score":0.28529998660087585},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.28299999237060547},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2825999855995178},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.2799000144004822},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.27709999680519104},{"id":"https://openalex.org/C165443888","wikidata":"https://www.wikidata.org/wiki/Q1482183","display_name":"Transformation matrix","level":3,"score":0.27549999952316284},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.27239999175071716},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2703000009059906},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.26989999413490295},{"id":"https://openalex.org/C2777851325","wikidata":"https://www.wikidata.org/wiki/Q7094102","display_name":"Online model","level":2,"score":0.2653000056743622}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.15949","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.15949","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.15949","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.15949","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,14,93,102,136,174],"reproducible":[4],"and":[5,54,78,156,180],"physically":[6,181],"feasible":[7,182],"dynamic":[8,183],"parameter":[9,146],"identification":[10],"framework":[11],"for":[12,75,185],"CRANE-X7,":[13],"low-cost":[15,186],"robot":[16,187],"arm":[17],"driven":[18],"by":[19,122,135],"modular":[20],"smart":[21],"actuators.":[22],"To":[23],"improve":[24],"practical":[25,58,175],"identifiability,":[26],"products":[27],"of":[28,127],"inertia":[29,129],"are":[30,49,90],"removed":[31],"according":[32],"to":[33,43,100,154,177],"approximate":[34],"link":[35],"symmetry,":[36],"reducing":[37],"the":[38,116,128,145,159],"rigid-body":[39],"model":[40,118,162],"from":[41,51,86,152],"65":[42],"39":[44],"base":[45],"parameters.":[46],"Identification":[47],"motions":[48],"hand-designed":[50],"structured":[52,88],"single-joint":[53],"adjacent-joint":[55],"primitives":[56],"under":[57],"joint-range":[59],"limits.":[60],"The":[61],"proposed":[62],"pipeline":[63],"combines":[64],"preprocessing,":[65],"inverse-dynamics-regressor-based":[66],"ordinary":[67],"least":[68],"squares":[69],"(OLS),":[70],"conditional":[71],"semidefinite-programming":[72],"(SDP)":[73],"projection":[74],"feasibility":[76],"recovery,":[77],"closed-loop":[79],"input":[80],"error":[81],"(CLIE)":[82],"refinement.":[83],"Candidate":[84],"solutions":[85],"40":[87],"trajectories":[89],"analyzed":[91],"in":[92],"common":[94],"principal":[95],"component":[96],"analysis":[97],"(PCA)":[98],"space":[99],"select":[101],"statistically":[103,178],"central":[104],"representative":[105],"model.":[106],"Because":[107],"statistical":[108],"centrality":[109],"alone":[110],"does":[111],"not":[112],"ensure":[113],"physical":[114],"acceptability,":[115],"selected":[117],"is":[119],"finally":[120],"screened":[121],"an":[123],"all-pose":[124],"positive-definiteness":[125],"audit":[126],"matrix":[130],"and,":[131],"when":[132],"necessary,":[133],"corrected":[134],"localized":[137],"post-CLIE":[138],"SDP":[139,155],"rescue":[140],"step.":[141],"Experiments":[142],"show":[143],"that":[144],"cloud":[147],"becomes":[148],"progressively":[149],"more":[150],"concentrated":[151],"OLS":[153],"CLIE,":[157],"while":[158],"final":[160],"accepted":[161],"preserves":[163],"high":[164],"predictive":[165],"accuracy":[166],"on":[167],"held-out":[168],"validation":[169],"motions.":[170],"These":[171],"results":[172],"demonstrate":[173],"route":[176],"coherent":[179],"models":[184],"platforms.":[188]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-05-19T00:00:00"}