{"id":"https://openalex.org/W2738677118","doi":"https://doi.org/10.1109/icra.2017.7989770","title":"Generating persistently exciting trajectory based on condition number optimization","display_name":"Generating persistently exciting trajectory based on condition number optimization","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2738677118","doi":"https://doi.org/10.1109/icra.2017.7989770","mag":"2738677118"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989770","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-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/A5081057425","display_name":"Ko Ayusawa","orcid":"https://orcid.org/0000-0001-8188-4204"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ko Ayusawa","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), National Institute of Advanced Industrial Science and Technology(ISAIST), Japan"],"affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), National Institute of Advanced Industrial Science and Technology(ISAIST), Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112531091","display_name":"Antoine Rioux","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Antoine Rioux","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), National Institute of Advanced Industrial Science and Technology(ISAIST), Japan"],"affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), National Institute of Advanced Industrial Science and Technology(ISAIST), Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080826821","display_name":"Eiichi Yoshida","orcid":"https://orcid.org/0000-0002-3077-6964"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Eiichi Yoshida","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), National Institute of Advanced Industrial Science and Technology(ISAIST), Japan"],"affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), National Institute of Advanced Industrial Science and Technology(ISAIST), Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076587308","display_name":"Gentiane Venture","orcid":"https://orcid.org/0000-0001-7767-4765"},"institutions":[{"id":"https://openalex.org/I92614990","display_name":"Tokyo University of Agriculture and Technology","ror":"https://ror.org/00qg0kr10","country_code":"JP","type":"education","lineage":["https://openalex.org/I92614990"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gentiane Venture","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), National Institute of Advanced Industrial Science and Technology(ISAIST), Japan","Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology","institution_ids":["https://openalex.org/I92614990"]},{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), National Institute of Advanced Industrial Science and Technology(ISAIST), Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101665387","display_name":"Maxime Gautier","orcid":"https://orcid.org/0000-0002-3927-0054"},"institutions":[{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Maxime Gautier","raw_affiliation_strings":["M. Gautier is with University of Nantes/LS2N, France"],"affiliations":[{"raw_affiliation_string":"M. Gautier is with University of Nantes/LS2N, France","institution_ids":["https://openalex.org/I4210117005","https://openalex.org/I97188460"]}]}],"institution_assertions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.554,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":24,"citation_normalized_percentile":{"value":0.958871,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":92,"max":93},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Biomechanics of Bipedal Locomotion in Robots and Animals","score":0.9996,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Biomechanics of Bipedal Locomotion in Robots and Animals","score":0.9996,"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/T10571","display_name":"Kinematic and Dynamic Analysis of Robot Manipulators","score":0.999,"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/T10653","display_name":"Robotic Grasping and Learning from Demonstration","score":0.999,"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/identification","display_name":"Identification (biology)","score":0.573346},{"id":"https://openalex.org/keywords/condition-number","display_name":"Condition number","score":0.5654356},{"id":"https://openalex.org/keywords/trajectory-planning","display_name":"Trajectory Planning","score":0.54933},{"id":"https://openalex.org/keywords/dynamic-modeling","display_name":"Dynamic Modeling","score":0.534197},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot Learning","score":0.510474},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.47013575},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.4117464}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.775581},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7184553},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6651177},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.58703387},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.573346},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.56853276},{"id":"https://openalex.org/C84545080","wikidata":"https://www.wikidata.org/wiki/Q1147936","display_name":"Condition number","level":3,"score":0.5654356},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.51290274},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.47013575},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.45612848},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.4117464},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37668157},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33666682},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.329849},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29806224},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.14713475},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"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/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989770","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":24,"referenced_works":["https://openalex.org/W1580573426","https://openalex.org/W1969140852","https://openalex.org/W2001524797","https://openalex.org/W2018911853","https://openalex.org/W2035587171","https://openalex.org/W2078856056","https://openalex.org/W2087431993","https://openalex.org/W2112474089","https://openalex.org/W2116501050","https://openalex.org/W2119143623","https://openalex.org/W2120693140","https://openalex.org/W2138113005","https://openalex.org/W2143327155","https://openalex.org/W2151186798","https://openalex.org/W2158794687","https://openalex.org/W2159537373","https://openalex.org/W2162123190","https://openalex.org/W2167354091","https://openalex.org/W2170068381","https://openalex.org/W2197995950","https://openalex.org/W2312336824","https://openalex.org/W2471547622","https://openalex.org/W2677257205","https://openalex.org/W4240806010"],"related_works":["https://openalex.org/W4319653673","https://openalex.org/W4289147272","https://openalex.org/W4285056964","https://openalex.org/W2982309288","https://openalex.org/W2972304041","https://openalex.org/W2903025760","https://openalex.org/W2763475766","https://openalex.org/W2350231028","https://openalex.org/W2087617385","https://openalex.org/W2084214244"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,17],"novel":[4],"optimization":[5],"method":[6,106],"for":[7,12,43,91,113],"generating":[8,110],"persistently":[9],"exciting":[10,20],"trajectories":[11,24,112],"inertial":[13],"parameters":[14],"identification":[15],"of":[16,22,32,58,72,86],"robot.":[18],"The":[19,104],"performance":[21,85],"the":[23,29,33,39,48,56,59,70,73,114],"is":[25,51,89,107],"usually":[26],"evaluated":[27],"by":[28,68,109],"condition":[30,60],"number":[31,61],"regressor":[34,77],"matrix,":[35],"which":[36,88],"appears":[37],"in":[38],"linear":[40],"regression":[41],"model":[42],"identification.":[44],"In":[45],"this":[46],"paper,":[47],"efficient":[49],"formulation":[50],"presented":[52],"to":[53,64],"directly":[54],"compute":[55],"gradient":[57,80],"with":[62],"respect":[63],"joint":[65],"trajectory":[66],"parameters,":[67],"deriving":[69],"derivative":[71],"singular":[74],"values":[75],"and":[76],"matrices.":[78],"Direct":[79],"computation":[81],"can":[82],"enhance":[83],"computational":[84],"optimization,":[87],"essential":[90],"large":[92],"DOF":[93],"systems":[94],"under":[95],"many":[96],"physical":[97],"consistent":[98],"conditions":[99],"such":[100],"as":[101],"humanoid":[102,115],"robots.":[103],"proposed":[105],"validated":[108],"several":[111],"robot":[116],"HRP-4.":[117]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2738677118","counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1}],"updated_date":"2024-10-30T10:34:29.801193","created_date":"2017-07-31"}
