{"id":"https://openalex.org/W2139548710","doi":"https://doi.org/10.1109/robot.1989.100021","title":"An analysis of contact instability in terms of passive physical equivalents","display_name":"An analysis of contact instability in terms of passive physical equivalents","publication_year":2003,"publication_date":"2003-01-07","ids":{"openalex":"https://openalex.org/W2139548710","doi":"https://doi.org/10.1109/robot.1989.100021","mag":"2139548710"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1989.100021","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/A5012910329","display_name":"Ed Colgate","orcid":null},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"E. Colgate","raw_affiliation_strings":["Department of Mechanical Engineering Northwestern University Evanston IL USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering Northwestern University Evanston IL USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112229384","display_name":"N. Hogan","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"N. Hogan","raw_affiliation_strings":["Dept. of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA."],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA.","institution_ids":["https://openalex.org/I63966007"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.05,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":255,"citation_normalized_percentile":{"value":0.9998,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"ct 12","issue":null,"first_page":"404","last_page":"409"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robotic Grasping and Learning from Demonstration","score":0.9999,"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":"Robotic Grasping and Learning from Demonstration","score":0.9999,"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 Multibody Mechanical Systems","score":0.9966,"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/T10923","display_name":"Atomic Force Microscopy Techniques","score":0.9962,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/contact-force-models","display_name":"Contact Force Models","score":0.598202},{"id":"https://openalex.org/keywords/safe-human-robot-interaction","display_name":"Safe Human-Robot Interaction","score":0.569763},{"id":"https://openalex.org/keywords/human-robot-collaboration","display_name":"Human-Robot Collaboration","score":0.567354},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive Control","score":0.550282},{"id":"https://openalex.org/keywords/friction-models","display_name":"Friction Models","score":0.531286}],"concepts":[{"id":"https://openalex.org/C207821765","wikidata":"https://www.wikidata.org/wiki/Q405372","display_name":"Instability","level":2,"score":0.69421905},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.65936315},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6330871},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5667046},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.5470314},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49166542},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47490206},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.42568776},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36188018},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26981533},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25058833},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24872929},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2370455},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2301845},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.12714237},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.11127561},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"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}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1989.100021","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":22,"referenced_works":["https://openalex.org/W1529586128","https://openalex.org/W1578038264","https://openalex.org/W1579720496","https://openalex.org/W181146280","https://openalex.org/W1967377907","https://openalex.org/W1974357213","https://openalex.org/W2010256126","https://openalex.org/W2012000126","https://openalex.org/W2013575527","https://openalex.org/W2034052310","https://openalex.org/W2102910763","https://openalex.org/W2105015109","https://openalex.org/W2109073443","https://openalex.org/W2126814366","https://openalex.org/W2130635944","https://openalex.org/W2151568495","https://openalex.org/W2158070096","https://openalex.org/W2161100229","https://openalex.org/W2164450398","https://openalex.org/W2273313247","https://openalex.org/W2682866729","https://openalex.org/W3022209387"],"related_works":["https://openalex.org/W2490690736","https://openalex.org/W2322569264","https://openalex.org/W2257349530","https://openalex.org/W2093673119","https://openalex.org/W2083493576","https://openalex.org/W2077461433","https://openalex.org/W2022300913","https://openalex.org/W1657992821","https://openalex.org/W1570780624","https://openalex.org/W14400985"],"abstract_inverted_index":{"The":[0,16],"authors":[1],"explore":[2],"the":[3,28,34,44,67],"sources":[4],"of":[5,18,27,30,37,47,69],"and":[6,57,81,92],"solutions":[7],"to":[8,66],"robot":[9,21,50,77],"contact":[10],"instability":[11,46],"associated":[12],"with":[13,78],"force":[14,71,86],"feedback.":[15],"behavior":[17],"several":[19],"linear":[20],"models":[22],"is":[23,55,59],"analyzed":[24],"in":[25],"terms":[26],"properties":[29],"their":[31],"admittances.":[32],"Using":[33],"novel":[35],"technique":[36],"passive":[38],"physical":[39],"equivalents,":[40],"an":[41],"explanation":[42],"for":[43,84],"often-observed":[45],"a":[48,52,62,76],"force-controlled":[49],"contacting":[51],"stiff":[53],"surface":[54],"offered,":[56],"it":[58],"shown":[60],"that":[61],"fundamental":[63],"limit":[64],"exists":[65],"efficacy":[68],"any":[70],"feedback":[72],"controller":[73],"implemented":[74],"on":[75],"noncolocated":[79],"actuators":[80],"sensors.":[82],"Suggestions":[83],"improved":[85],"control":[87],"involving":[88],"both":[89],"mechanical":[90],"design":[91,94],"compensator":[93],"are":[95],"also":[96],"presented.<":[97],">":[100]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2139548710","counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":13},{"year":2016,"cited_by_count":14},{"year":2015,"cited_by_count":15},{"year":2014,"cited_by_count":19},{"year":2013,"cited_by_count":13},{"year":2012,"cited_by_count":10}],"updated_date":"2024-11-19T23:10:36.685649","created_date":"2016-06-24"}