{"id":"https://openalex.org/W2137860408","doi":"https://doi.org/10.1109/robot.1989.100046","title":"On adaptive impedance control of robot manipulators","display_name":"On adaptive impedance control of robot manipulators","publication_year":2003,"publication_date":"2003-01-07","ids":{"openalex":"https://openalex.org/W2137860408","doi":"https://doi.org/10.1109/robot.1989.100046","mag":"2137860408"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1989.100046","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/A5085499418","display_name":"Rafael Kelly","orcid":"https://orcid.org/0000-0002-7660-0745"},"institutions":[{"id":"https://openalex.org/I8961855","display_name":"Universidad Nacional Aut\u00f3noma de M\u00e9xico","ror":"https://ror.org/01tmp8f25","country_code":"MX","type":"education","lineage":["https://openalex.org/I8961855"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"R. Kelly","raw_affiliation_strings":["[DEPFI, Universidad Nacional Autonoma de Mexico, Mexico, Mexico]"],"affiliations":[{"raw_affiliation_string":"[DEPFI, Universidad Nacional Autonoma de Mexico, Mexico, Mexico]","institution_ids":["https://openalex.org/I8961855"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000849024","display_name":"Ricardo Carelli","orcid":"https://orcid.org/0000-0003-0688-7020"},"institutions":[{"id":"https://openalex.org/I8961855","display_name":"Universidad Nacional Aut\u00f3noma de M\u00e9xico","ror":"https://ror.org/01tmp8f25","country_code":"MX","type":"education","lineage":["https://openalex.org/I8961855"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"R. Carelli","raw_affiliation_strings":["[DEPFI, Universidad Nacional Autonoma de Mexico, Mexico, Mexico]"],"affiliations":[{"raw_affiliation_string":"[DEPFI, Universidad Nacional Autonoma de Mexico, Mexico, Mexico]","institution_ids":["https://openalex.org/I8961855"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066002967","display_name":"Mauricio Amestegui","orcid":null},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"M. Amestegui","raw_affiliation_strings":["[CIEA, Instituto Politecnico Nacional, Mexico, Mexico]"],"affiliations":[{"raw_affiliation_string":"[CIEA, Instituto Politecnico Nacional, Mexico, Mexico]","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006475297","display_name":"Rom\u00e9o Ortega","orcid":"https://orcid.org/0000-0002-7747-5405"},"institutions":[{"id":"https://openalex.org/I8961855","display_name":"Universidad Nacional Aut\u00f3noma de M\u00e9xico","ror":"https://ror.org/01tmp8f25","country_code":"MX","type":"education","lineage":["https://openalex.org/I8961855"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"R. Ortega","raw_affiliation_strings":["[DEPFI, Universidad Nacional Autonoma de Mexico, Mexico, Mexico]"],"affiliations":[{"raw_affiliation_string":"[DEPFI, Universidad Nacional Autonoma de Mexico, Mexico, Mexico]","institution_ids":["https://openalex.org/I8961855"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.807,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":106,"citation_normalized_percentile":{"value":0.981795,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"572","last_page":"577"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robotic Grasping and Learning from Demonstration","score":0.9994,"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":0.9994,"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/T11687","display_name":"Bilateral Teleoperation in Robotics and Haptics","score":0.9886,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11372","display_name":"Hydraulic Systems Control and Optimization","score":0.9862,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/adaptive-control","display_name":"Adaptive Control","score":0.635839},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance Control","score":0.592168},{"id":"https://openalex.org/keywords/adaptive","display_name":"Adaptive","score":0.576825},{"id":"https://openalex.org/keywords/human-machine-collaboration","display_name":"Human-Machine Collaboration","score":0.555765},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5545428},{"id":"https://openalex.org/keywords/human-robot-collaboration","display_name":"Human-Robot Collaboration","score":0.549949},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.50786096},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4828449}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7997843},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.67081046},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.66890204},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.66077137},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.61798847},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.6105201},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5582063},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5545428},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5079687},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.50786096},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5058119},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48891273},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4828449},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.46331286},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2741232},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26810634},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20914897},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06868559},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"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/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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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.1989.100046","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":21,"referenced_works":["https://openalex.org/W1864917393","https://openalex.org/W1946771514","https://openalex.org/W1967377907","https://openalex.org/W2026769037","https://openalex.org/W2034825286","https://openalex.org/W2070678224","https://openalex.org/W2079315820","https://openalex.org/W2083483041","https://openalex.org/W2104027985","https://openalex.org/W2116243329","https://openalex.org/W2120512179","https://openalex.org/W2123786464","https://openalex.org/W2128663534","https://openalex.org/W2133643714","https://openalex.org/W2134743926","https://openalex.org/W2145618422","https://openalex.org/W2154174243","https://openalex.org/W2155349545","https://openalex.org/W2162257435","https://openalex.org/W2178946461","https://openalex.org/W4231629070"],"related_works":["https://openalex.org/W4295916778","https://openalex.org/W3191493856","https://openalex.org/W2314048082","https://openalex.org/W2165087119","https://openalex.org/W2112995122","https://openalex.org/W2097006611","https://openalex.org/W2059740384","https://openalex.org/W1984186897","https://openalex.org/W1968487248","https://openalex.org/W1548357495"],"abstract_inverted_index":{"Impedance":[0],"control":[1],"specifications":[2],"for":[3,53],"robot":[4],"manipulators":[5],"are":[6,59],"given":[7],"in":[8],"terms":[9],"of":[10,65,69],"a":[11,16,66],"desired":[12,17],"motion":[13],"trajectory":[14],"and":[15,23,72,84],"dynamic":[18,57],"relationship":[19],"between":[20],"position":[21],"errors":[22],"interaction":[24],"forces.":[25,75],"An":[26],"adaptive":[27,45],"implementation":[28],"is":[29],"proposed":[30],"as":[31],"an":[32],"alternative":[33],"to":[34,40,81],"reduce":[35],"the":[36,50,54],"design":[37],"sensitivity":[38],"due":[39],"model-manipulator":[41],"parameter":[42],"mismatch.":[43],"Two":[44],"controllers":[46],"that":[47],"globally":[48],"achieve":[49],"impedance":[51],"objective":[52],"general":[55],"nonlinear":[56,67],"model":[58],"presented.":[60],"The":[61],"controller":[62],"structures":[63],"consist":[64],"feedback":[68],"positions,":[70],"velocities,":[71],"end-effector":[73],"applied":[74],"Computer":[76],"simulations":[77],"were":[78],"carried":[79],"out":[80],"demonstrate":[82],"stability":[83],"performance":[85],"control.<":[86],">":[89]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2137860408","counts_by_year":[{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":5},{"year":2012,"cited_by_count":2}],"updated_date":"2024-11-22T19:32:42.959141","created_date":"2016-06-24"}