{"id":"https://openalex.org/W2981657570","doi":"https://doi.org/10.1109/tcyb.2019.2945498","title":"On Robot Compliance: A Cerebellar Control Approach","display_name":"On Robot Compliance: A Cerebellar Control Approach","publication_year":2019,"publication_date":"2019-10-23","ids":{"openalex":"https://openalex.org/W2981657570","doi":"https://doi.org/10.1109/tcyb.2019.2945498","mag":"2981657570","pmid":"https://pubmed.ncbi.nlm.nih.gov/31647453"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2019.2945498","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2003.01033","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017142972","display_name":"Ignacio Abad\u00eda","orcid":"https://orcid.org/0000-0003-1365-1526"},"institutions":[{"id":"https://openalex.org/I173304897","display_name":"Universidad de Granada","ror":"https://ror.org/04njjy449","country_code":"ES","type":"education","lineage":["https://openalex.org/I173304897"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Ignacio Abadia","raw_affiliation_strings":["Research Centre for Information and Communication Technologies, University of Granada, Granada, Spain"],"affiliations":[{"raw_affiliation_string":"Research Centre for Information and Communication Technologies, University of Granada, Granada, Spain","institution_ids":["https://openalex.org/I173304897"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042414439","display_name":"Francisco Naveros","orcid":"https://orcid.org/0000-0003-4208-3871"},"institutions":[{"id":"https://openalex.org/I173304897","display_name":"Universidad de Granada","ror":"https://ror.org/04njjy449","country_code":"ES","type":"education","lineage":["https://openalex.org/I173304897"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Francisco Naveros","raw_affiliation_strings":["Research Centre for Information and Communication Technologies, University of Granada, Granada, Spain"],"affiliations":[{"raw_affiliation_string":"Research Centre for Information and Communication Technologies, University of Granada, Granada, Spain","institution_ids":["https://openalex.org/I173304897"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000842902","display_name":"Jes\u00fas A. Garrido","orcid":"https://orcid.org/0000-0001-6648-7075"},"institutions":[{"id":"https://openalex.org/I173304897","display_name":"Universidad de Granada","ror":"https://ror.org/04njjy449","country_code":"ES","type":"education","lineage":["https://openalex.org/I173304897"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jesus A. Garrido","raw_affiliation_strings":["Research Centre for Information and Communication Technologies, University of Granada, Granada, Spain"],"affiliations":[{"raw_affiliation_string":"Research Centre for Information and Communication Technologies, University of Granada, Granada, Spain","institution_ids":["https://openalex.org/I173304897"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101663021","display_name":"Eduardo Ros","orcid":"https://orcid.org/0000-0001-6613-5256"},"institutions":[{"id":"https://openalex.org/I173304897","display_name":"Universidad de Granada","ror":"https://ror.org/04njjy449","country_code":"ES","type":"education","lineage":["https://openalex.org/I173304897"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Eduardo Ros","raw_affiliation_strings":["Research Centre for Information and Communication Technologies, University of Granada, Granada, Spain"],"affiliations":[{"raw_affiliation_string":"Research Centre for Information and Communication Technologies, University of Granada, Granada, Spain","institution_ids":["https://openalex.org/I173304897"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023617574","display_name":"Niceto R. Luque","orcid":"https://orcid.org/0000-0002-0626-5048"},"institutions":[{"id":"https://openalex.org/I173304897","display_name":"Universidad de Granada","ror":"https://ror.org/04njjy449","country_code":"ES","type":"education","lineage":["https://openalex.org/I173304897"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Niceto R. Luque","raw_affiliation_strings":["Research Centre for Information and Communication Technologies, University of Granada, Granada, Spain"],"affiliations":[{"raw_affiliation_string":"Research Centre for Information and Communication Technologies, University of Granada, Granada, Spain","institution_ids":["https://openalex.org/I173304897"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.772,"has_fulltext":true,"fulltext_origin":"pdf","cited_by_count":30,"citation_normalized_percentile":{"value":0.825197,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":95},"biblio":{"volume":"51","issue":"5","first_page":"2476","last_page":"2489"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10542","display_name":"Vestibular and auditory disorders","score":0.9996,"subfield":{"id":"https://openalex.org/subfields/2808","display_name":"Neurology"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10542","display_name":"Vestibular and auditory disorders","score":0.9996,"subfield":{"id":"https://openalex.org/subfields/2808","display_name":"Neurology"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9941,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9954,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback Control","score":0.581258},{"id":"https://openalex.org/keywords/sensory-feedback","display_name":"Sensory Feedback","score":0.564535},{"id":"https://openalex.org/keywords/motor-control","display_name":"Motor Control","score":0.518519}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6417932},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5628193},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5553349},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.53247094},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.46710578},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.41683605},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3758029},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37045735},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36717725},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2740443},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2303532},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2019.2945498","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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},{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2003.01033","pdf_url":"https://arxiv.org/pdf/2003.01033","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":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":false,"landing_page_url":"https://api.datacite.org/dois/10.48550/arxiv.2003.01033","pdf_url":null,"source":{"id":"https://openalex.org/S4393179698","display_name":"DataCite API","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210145204","host_organization_name":"DataCite","host_organization_lineage":["https://openalex.org/I4210145204"],"host_organization_lineage_names":["DataCite"],"type":"metadata"},"license":null,"license_id":null,"version":null}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2003.01033","pdf_url":"https://arxiv.org/pdf/2003.01033","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":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.78,"display_name":"Peace, justice, and strong institutions"}],"grants":[{"funder":"https://openalex.org/F4320323834","funder_display_name":"Universidad de Granada","award_id":"A-TIC-276-UGR18"},{"funder":"https://openalex.org/F4320335152","funder_display_name":"Agencia de Innovaci\u00f3n y Desarrollo de Andaluc\u00eda","award_id":null},{"funder":"https://openalex.org/F4320335204","funder_display_name":"Secretar\u00eda de Estado de Investigaci\u00f3n, Desarrollo e Innovaci\u00f3n","award_id":"TIN2016-81041-R"},{"funder":"https://openalex.org/F4320338336","funder_display_name":"H2020 Future and Emerging Technologies","award_id":"785907"}],"datasets":[],"versions":["https://openalex.org/W2981657570"],"referenced_works_count":93,"referenced_works":["https://openalex.org/W101771737","https://openalex.org/W1038800568","https://openalex.org/W1278042599","https://openalex.org/W143324445","https://openalex.org/W1515749184","https://openalex.org/W1550824444","https://openalex.org/W1582232668","https://openalex.org/W1852473500","https://openalex.org/W1885639605","https://openalex.org/W1949974402","https://openalex.org/W1964625716","https://openalex.org/W1974957008","https://openalex.org/W1977012871","https://openalex.org/W1979096535","https://openalex.org/W1989099984","https://openalex.org/W1993740947","https://openalex.org/W1998256936","https://openalex.org/W2006370340","https://openalex.org/W2008224926","https://openalex.org/W2015816821","https://openalex.org/W2019653723","https://openalex.org/W2020509389","https://openalex.org/W2020622753","https://openalex.org/W2022113456","https://openalex.org/W2028783843","https://openalex.org/W2032943627","https://openalex.org/W2043711811","https://openalex.org/W2050835671","https://openalex.org/W2052906886","https://openalex.org/W2058482978","https://openalex.org/W2064566192","https://openalex.org/W2067394272","https://openalex.org/W2068127265","https://openalex.org/W2096342007","https://openalex.org/W2097861969","https://openalex.org/W2102542760","https://openalex.org/W2103019454","https://openalex.org/W2104695435","https://openalex.org/W2105301020","https://openalex.org/W2105848810","https://openalex.org/W2108157381","https://openalex.org/W2108703536","https://openalex.org/W2109679877","https://openalex.org/W2110059807","https://openalex.org/W2111253117","https://openalex.org/W2113364987","https://openalex.org/W2118593713","https://openalex.org/W2119989997","https://openalex.org/W2125650133","https://openalex.org/W2131689338","https://openalex.org/W2136982433","https://openalex.org/W2138603786","https://openalex.org/W2147561645","https://openalex.org/W2153756422","https://openalex.org/W2157580187","https://openalex.org/W2159682015","https://openalex.org/W2159951683","https://openalex.org/W2162443837","https://openalex.org/W2167340365","https://openalex.org/W2168681596","https://openalex.org/W2170715240","https://openalex.org/W2270672111","https://openalex.org/W2288308464","https://openalex.org/W2296653574","https://openalex.org/W2301008577","https://openalex.org/W2304447290","https://openalex.org/W2328210587","https://openalex.org/W2333727555","https://openalex.org/W2341128634","https://openalex.org/W2482431271","https://openalex.org/W2522074789","https://openalex.org/W2552542682","https://openalex.org/W2586327394","https://openalex.org/W2616867613","https://openalex.org/W2622604310","https://openalex.org/W2890344110","https://openalex.org/W2890484297","https://openalex.org/W2901136733","https://openalex.org/W2904752712","https://openalex.org/W2913761199","https://openalex.org/W2918495130","https://openalex.org/W2921263812","https://openalex.org/W2923115009","https://openalex.org/W2947871127","https://openalex.org/W2951118306","https://openalex.org/W2955017115","https://openalex.org/W3157324035","https://openalex.org/W345956458","https://openalex.org/W4205559380","https://openalex.org/W4211031398","https://openalex.org/W4235661950","https://openalex.org/W4238614602","https://openalex.org/W47480302"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W4393140930","https://openalex.org/W4385452609","https://openalex.org/W4313255720","https://openalex.org/W2921933148","https://openalex.org/W2746642893","https://openalex.org/W2375420338","https://openalex.org/W2000675896","https://openalex.org/W1992538606","https://openalex.org/W1817375815"],"abstract_inverted_index":{"The":[0,38,109],"work":[1],"presented":[2],"here":[3],"is":[4,101,126],"a":[5,14,23,31,81,89,155,159,168,187],"novel":[6],"biological":[7],"approach":[8,176],"for":[9,46,105,192],"the":[10,28,58,63,67,115,120,134,145,165,178,181],"compliant":[11,169,175,212],"control":[12,33,161,185],"of":[13,30,83,96,158,180,189,200],"robotic":[15],"arm":[16,50],"in":[17,131,186,203],"real":[18],"time":[19],"(RT).":[20],"We":[21,153,171],"integrate":[22],"spiking":[24,39,59,85,110,135],"cerebellar":[25,40,60,111,136,194],"network":[26],"at":[27,93],"core":[29],"feedback":[32],"loop":[34],"performing":[35],"torque-driven":[36],"control.":[37,108],"controller":[41,61,112,137],"provides":[42],"torque":[43,116,129],"commands":[44,117],"allowing":[45,104],"accurate":[47],"and":[48,71,209],"coordinated":[49],"movements.":[51,213],"To":[52],"compute":[53],"these":[54],"output":[55],"motor":[56,195],"commands,":[57,130],"receives":[62],"robot's":[64,68,146],"sensorial":[65],"signals,":[66],"goal":[69],"behavior,":[70],"an":[72],"instructive":[73],"signal.":[74],"These":[75],"input":[76],"signals":[77],"are":[78],"translated":[79],"into":[80],"set":[82,188],"evolving":[84],"patterns":[86],"representing":[87],"univocally":[88],"specific":[90],"system":[91],"state":[92],"every":[94],"point":[95],"time.":[97],"Spike-timing-dependent":[98],"plasticity":[99],"(STDP)":[100],"then":[102],"supported,":[103],"building":[106],"adaptive":[107],"continuously":[113],"adapts":[114],"provided":[118],"to":[119,138],"robot":[121],"from":[122],"experience":[123],"as":[124],"STDP":[125],"deployed.":[127],"Adaptive":[128],"turn,":[132],"help":[133],"cope":[139],"with":[140,167],"built-in":[141],"elastic":[142],"elements":[143],"within":[144],"actuators":[147],"mimicking":[148],"human":[149],"muscles":[150],"(inherently":[151],"elastic).":[152],"propose":[154],"natural":[156],"integration":[157],"bioinspired":[160],"scheme,":[162],"based":[163],"on":[164],"cerebellum,":[166],"robot.":[170],"prove":[172],"that":[173],"our":[174],"outperforms":[177],"accuracy":[179],"default":[182],"factory-installed":[183],"position":[184],"tasks":[190],"used":[191],"addressing":[193],"behavior:":[196],"controlling":[197],"six":[198],"degrees":[199],"freedom":[201],"(DoF)":[202],"smooth":[204],"movements,":[205,208],"fast":[206],"ballistic":[207],"unstructured":[210],"scenario":[211]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2981657570","counts_by_year":[{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":1}],"updated_date":"2024-12-05T08:10:46.946453","created_date":"2019-11-01"}