{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,27]],"date-time":"2025-10-27T16:16:36Z","timestamp":1761581796523,"version":"3.37.3"},"reference-count":54,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"3","license":[{"start":{"date-parts":[[2020,5,1]],"date-time":"2020-05-01T00:00:00Z","timestamp":1588291200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2020,5,1]],"date-time":"2020-05-01T00:00:00Z","timestamp":1588291200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2020,5,1]],"date-time":"2020-05-01T00:00:00Z","timestamp":1588291200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"Ministero dell\u2019Istruzione, dell\u2019Universit\u00e0 e della Ricerca through the Fondo per gli investimenti della Ricerca di Base Project Learning Meets Time","award":["RBFR12M3AC"],"award-info":[{"award-number":["RBFR12M3AC"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Contr. Syst. Technol."],"published-print":{"date-parts":[[2020,5]]},"DOI":"10.1109\/tcst.2019.2891222","type":"journal-article","created":{"date-parts":[[2019,2,12]],"date-time":"2019-02-12T19:37:45Z","timestamp":1550000265000},"page":"816-830","source":"Crossref","is-referenced-by-count":26,"title":["Derivative-Free Online Learning of Inverse Dynamics Models"],"prefix":"10.1109","volume":"28","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8603-2438","authenticated-orcid":false,"given":"Diego","family":"Romeres","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5581-5210","authenticated-orcid":false,"given":"Mattia","family":"Zorzi","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8890-2732","authenticated-orcid":false,"given":"Raffaello","family":"Camoriano","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9283-6133","authenticated-orcid":false,"given":"Silvio","family":"Traversaro","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4410-6101","authenticated-orcid":false,"given":"Alessandro","family":"Chiuso","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1137\/1.9781611970128"},{"journal-title":"Probability random variables and stochastic processes","year":"2002","author":"papoulis","key":"ref38"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2016.7798838"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ECC.2016.7810478"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1088\/1742-6596\/570\/1\/012002"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1016\/j.patrec.2014.03.004"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1016\/j.cmpb.2011.05.010"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2011.2131830"},{"journal-title":"Classical Mechanics","year":"2005","author":"taylor","key":"ref35"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/9.100932"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/MLSP.2010.5589113"},{"key":"ref27","first-page":"1939","article-title":"A unifying view of sparse approximate Gaussian process regression","volume":"6","author":"qui\u00f1onero-candela","year":"2005","journal-title":"J Mach Learn Res"},{"key":"ref29","first-page":"755","article-title":"MAXENT priors for stochastic filtering problems","author":"de nicolao","year":"1998","journal-title":"Proc Symp Math Theory Netw Syst"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1163\/016918609X12529286896877"},{"key":"ref1","volume":"3","author":"craig","year":"2005","journal-title":"Introduction to Robotics Mechanics and Control"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TIP.2010.2066984"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2010.06.033"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1162\/089976602317250933"},{"key":"ref24","first-page":"1177","article-title":"Random features for large-scale kernel machines","author":"rahimi","year":"2007","journal-title":"Proc Adv Neural Inf Process Syst"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980191"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2016.7798708"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487177"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2015.00006"},{"key":"ref51","first-page":"3201","article-title":"GURLS: A least squares library for supervised learning","volume":"14","author":"tacchetti","year":"2013","journal-title":"J Mach Learn Research"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759801"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2015.05.012"},{"journal-title":"Predictive Control with Constraints","year":"2002","author":"maciejowski","key":"ref52"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ECC.2016.7810479"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509858"},{"journal-title":"System Identification Theory for the User","year":"1999","author":"ljung","key":"ref40"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385977"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TKDE.2009.191"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/IJCNN.2013.6706721"},{"key":"ref15","first-page":"625","article-title":"Fast sparse Gaussian process methods: The informative vector machine","author":"lawrence","year":"2002","journal-title":"Proc 15th Int Conf Neural Inf Process Syst (NIPS)"},{"key":"ref16","first-page":"619","article-title":"Sparse greedy Gaussian process regression","volume":"13","author":"smola","year":"2001","journal-title":"Advances in neural information processing systems"},{"key":"ref17","first-page":"1257","article-title":"Sparse Gaussian processes using pseudo-inputs","author":"snelson","year":"2006","journal-title":"Advances in neural information processing systems"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1162\/089976600300014908"},{"key":"ref19","first-page":"682","article-title":"Using the Nystr&#x00F6;m method to speed up kernel machines","volume":"13","author":"williams","year":"2001","journal-title":"Advances in neural information processing systems"},{"key":"ref4","doi-asserted-by":"crossref","first-page":"1531","DOI":"10.3182\/20090706-3-FR-2004.00256","article-title":"Model-free control and intelligent PID controllers: Towards a possible trivialization of nonlinear control?","volume":"42","author":"fliess","year":"2009","journal-title":"IFAC Proc Volumes"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2007.916315"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139638"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1007\/s10339-011-0404-1"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30301-5_15"},{"journal-title":"Robotics Modelling Planning and Control","year":"2010","author":"siciliano","key":"ref7"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5650851"},{"journal-title":"Gaussian Processes for Machine Learning","year":"2006","author":"rasmussen","key":"ref9"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1016\/j.neunet.2010.08.010"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2016.08.014"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/Humanoids.2011.6100813"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/87.880606"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1137\/1.9781611971484"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2015.7402726"},{"journal-title":"Modelling and Identification in Robotics","year":"2012","author":"kozlowski","key":"ref44"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4614-7138-7"}],"container-title":["IEEE Transactions on Control Systems Technology"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/87\/9064612\/08640813.pdf?arnumber=8640813","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,4,27]],"date-time":"2022-04-27T15:00:15Z","timestamp":1651071615000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8640813\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,5]]},"references-count":54,"journal-issue":{"issue":"3"},"URL":"https:\/\/doi.org\/10.1109\/tcst.2019.2891222","relation":{},"ISSN":["1063-6536","1558-0865","2374-0159"],"issn-type":[{"type":"print","value":"1063-6536"},{"type":"electronic","value":"1558-0865"},{"type":"electronic","value":"2374-0159"}],"subject":[],"published":{"date-parts":[[2020,5]]}}}