{"id":"https://openalex.org/W4390120031","doi":"https://doi.org/10.1109/lra.2023.3346268","title":"Online Identification of Payload Inertial Parameters Using Ensemble Learning for Collaborative Robots","display_name":"Online Identification of Payload Inertial Parameters Using Ensemble Learning for Collaborative Robots","publication_year":2023,"publication_date":"2023-12-22","ids":{"openalex":"https://openalex.org/W4390120031","doi":"https://doi.org/10.1109/lra.2023.3346268"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3346268","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"journal-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/A5044401884","display_name":"Wael Taie","orcid":"https://orcid.org/0009-0003-9707-761X"},"institutions":[{"id":"https://openalex.org/I895027328","display_name":"October University of Modern Sciences and Arts","ror":"https://ror.org/01nvnhx40","country_code":"EG","type":"education","lineage":["https://openalex.org/I895027328"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN","EG"],"is_corresponding":false,"raw_author_name":"Wael Taie","raw_affiliation_strings":["Department of Mechatronics Systems Engineering, October University for Modern Sciences and Arts, Cairo, Egypt","State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechatronics Systems Engineering, October University for Modern Sciences and Arts, Cairo, Egypt","institution_ids":["https://openalex.org/I895027328"]},{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061229826","display_name":"Khaled Elgeneidy","orcid":"https://orcid.org/0000-0002-4577-6297"},"institutions":[],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Khaled ElGeneidy","raw_affiliation_strings":["School of Engineering, Coventry University, Cairo, Egypt"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Coventry University, Cairo, Egypt","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042700794","display_name":"Ali Al-Yacoub","orcid":"https://orcid.org/0000-0003-2010-9882"},"institutions":[{"id":"https://openalex.org/I143804889","display_name":"Loughborough University","ror":"https://ror.org/04vg4w365","country_code":"GB","type":"education","lineage":["https://openalex.org/I143804889"]},{"id":"https://openalex.org/I1299528221","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842","country_code":"GB","type":"government","lineage":["https://openalex.org/I1299528221","https://openalex.org/I4210087105"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ali AL-Yacoub","raw_affiliation_strings":["EPSRC Centre for Innovative Manufacturing in Intelligent Automation, Loughborough University, Loughborough, U.K."],"affiliations":[{"raw_affiliation_string":"EPSRC Centre for Innovative Manufacturing in Intelligent Automation, Loughborough University, Loughborough, U.K.","institution_ids":["https://openalex.org/I143804889","https://openalex.org/I1299528221"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062537040","display_name":"Ronglei Sun","orcid":"https://orcid.org/0000-0001-6295-6583"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sun Ronglei","raw_affiliation_strings":["State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institution_assertions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.683,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.620722,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":92},"biblio":{"volume":"9","issue":"2","first_page":"1350","last_page":"1356"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9936,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9936,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9437,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11741","display_name":"Flexible and Reconfigurable Manufacturing Systems","score":0.9291,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/payload","display_name":"Payload (computing)","score":0.8527764},{"id":"https://openalex.org/keywords/identification","display_name":"Identification","score":0.5684907},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.46974307}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.8527764},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.68308264},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.58246875},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.5684907},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.54813594},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5395175},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47407022},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.46974307},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.46464655},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.44624656},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4138764},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35856777},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3378584},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.32151058},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.223454},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09767404},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.08938432},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.074528396},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"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/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3346268","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.41,"display_name":"Peace, justice, and strong institutions"}],"grants":[{"funder":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China","award_id":"U21A20121"}],"datasets":[],"versions":[],"referenced_works_count":23,"referenced_works":["https://openalex.org/W1534477342","https://openalex.org/W1969805947","https://openalex.org/W1974309896","https://openalex.org/W2078856056","https://openalex.org/W2133443903","https://openalex.org/W2148084973","https://openalex.org/W2167055186","https://openalex.org/W2556810957","https://openalex.org/W2569610420","https://openalex.org/W2773771478","https://openalex.org/W2892147826","https://openalex.org/W2895885020","https://openalex.org/W2938142681","https://openalex.org/W2991572051","https://openalex.org/W3005672041","https://openalex.org/W3036053160","https://openalex.org/W3161569736","https://openalex.org/W3206837353","https://openalex.org/W4205668611","https://openalex.org/W4225785207","https://openalex.org/W4225865441","https://openalex.org/W4285102576","https://openalex.org/W4383109337"],"related_works":["https://openalex.org/W4248634784","https://openalex.org/W2382856674","https://openalex.org/W2357657342","https://openalex.org/W2153432761","https://openalex.org/W2152623100","https://openalex.org/W2142042635","https://openalex.org/W2103296973","https://openalex.org/W1988127757","https://openalex.org/W1580144672","https://openalex.org/W1535080110"],"abstract_inverted_index":{"Collaborative":[0],"robots":[1],"(Cobots)":[2],"are":[3],"essential":[4,52],"in":[5,20,41,140],"flexible":[6],"automation":[7],"solutions,":[8],"enabling":[9],"fast":[10],"and":[11,59,77,110,120,130,142,170],"easy":[12],"reconfiguration":[13],"to":[14,16,27,98,126],"adapt":[15],"varying":[17,33],"task":[18],"requirements":[19],"dynamic":[21],"environments.":[22],"This":[23],"requires":[24],"the":[25,47,75,100,124,145,157,173,183],"ability":[26],"safely":[28],"handle":[29],"different":[30],"payloads":[31],"with":[32],"inertial":[34,49,102],"parameters,":[35],"which":[36,73],"may":[37],"not":[38],"be":[39],"known":[40],"advance.":[42],"Hence,":[43],"online":[44,87],"identification":[45,88],"of":[46,175],"payload's":[48],"parameters":[50,103,181],"becomes":[51],"for":[53,168,172],"safe":[54],"interactions,":[55],"accurate":[56,179],"path":[57],"following,":[58],"stable":[60],"grasping.":[61],"Most":[62],"existing":[63],"methods":[64,162],"require":[65],"additional":[66,108],"sensors,":[67],"calibration":[68,111],"procedures,":[69],"or":[70,107],"custom":[71],"filtering,":[72],"increases":[74],"complexity":[76],"estimation":[78],"time.":[79],"In":[80],"this":[81],"letter,":[82],"we":[83],"propose":[84],"a":[85,92],"novel":[86],"method":[89,114,137,155],"that":[90,153],"employs":[91],"bagging":[93],"ensemble":[94],"machine":[95],"learning":[96],"approach":[97],"identify":[99],"payload":[101,180],"without":[104],"external":[105],"sensors":[106],"filtering":[109],"steps.":[112],"The":[113,136,150],"uses":[115],"available":[116],"joint":[117],"position,":[118],"velocity,":[119],"torque":[121],"measurements":[122],"from":[123],"Cobot":[125],"train":[127],"neural":[128],"networks":[129],"decision":[131],"trees":[132],"as":[133],"weak":[134],"learners.":[135],"is":[138],"tested":[139],"simulation":[141],"validated":[143],"using":[144],"Franka":[146],"Emika":[147],"Panda":[148],"Cobot.":[149],"results":[151],"showed":[152],"our":[154],"outperforms":[156],"state-of-the-art":[158],"recursive":[159],"least":[160],"square":[161],"reducing":[163],"prediction":[164],"errors":[165],"by":[166],"75%\u201378%":[167],"mass":[169],"49.5%\u201360%":[171],"center":[174],"mass,":[176],"while":[177],"estimating":[178],"within":[182],"first":[184],"time":[185],"step.":[186]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4390120031","counts_by_year":[{"year":2024,"cited_by_count":5}],"updated_date":"2024-12-31T05:38:10.434743","created_date":"2023-12-23"}