{"id":"https://openalex.org/W1506871802","doi":"https://doi.org/10.1109/icra.2015.7139267","title":"Passivity of virtual free-floating dynamics rendered on robotic facilities","display_name":"Passivity of virtual free-floating dynamics rendered on robotic facilities","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1506871802","doi":"https://doi.org/10.1109/icra.2015.7139267","mag":"1506871802"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139267","doi":"https://doi.org/10.1109/icra.2015.7139267","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139267","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","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/A5013295793","display_name":"Marco De Stefano","orcid":"https://orcid.org/0000-0003-3777-9487","observed_orcids":["https://orcid.org/0000-0003-3777-9487"]},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marco De Stefano","raw_affiliation_strings":["Institute of Robotics and Mechatronics (RMC), German Aerospace Center (DLR), WeBling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics (RMC), German Aerospace Center (DLR), WeBling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083608799","display_name":"Jordi Artigas","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jordi Artigas","raw_affiliation_strings":["Institute of Robotics and Mechatronics (RMC), German Aerospace Center (DLR), WeBling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics (RMC), German Aerospace Center (DLR), WeBling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070814464","display_name":"Wolfgang Rackl","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfgang Rackl","raw_affiliation_strings":["Institute of Robotics and Mechatronics (RMC), German Aerospace Center (DLR), WeBling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics (RMC), German Aerospace Center (DLR), WeBling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080814983","display_name":"Alin Albu\u2010Sch\u00e4ffer","orcid":"https://orcid.org/0000-0001-5343-9074","observed_orcids":["https://orcid.org/0000-0001-5343-9074"]},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alin Albu-Schaeffer","raw_affiliation_strings":["Department of Computer Science, Technical University Munich (TUM)","Institute of Robotics and Mechatronics (RMC), German Aerospace Center (DLR), WeBling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Technical University Munich (TUM)","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics (RMC), German Aerospace Center (DLR), WeBling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.7735,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.98686698,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":88,"max":98},"biblio":{"volume":"29","issue":null,"first_page":"781","last_page":"788"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9779999852180481,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9779999852180481,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.005799999926239252,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.004900000058114529,"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/passivity","display_name":"passivity","score":0.7929999828338623},{"id":"https://openalex.org/keywords/admittance-control","display_name":"admittance control","score":0.8450000286102295},{"id":"https://openalex.org/keywords/six-degree-of-freedom-robot","display_name":"six-degree-of-freedom robot","score":0.7210000157356262},{"id":"https://openalex.org/keywords/time-delay","display_name":"time delay","score":0.5759999752044678},{"id":"https://openalex.org/keywords/instability","display_name":"instability","score":0.40700000524520874},{"id":"https://openalex.org/keywords/energy-demand-growth","display_name":"energy demand growth","score":0.5249999761581421},{"id":"https://openalex.org/keywords/dynamics-simulation","display_name":"dynamics simulation","score":0.49000000953674316},{"id":"https://openalex.org/keywords/haptic-rendering","display_name":"haptic rendering","score":0.6060000061988831}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.8888124227523804},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.6832248568534851},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6247501373291016},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.552250862121582},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.5397165417671204},{"id":"https://openalex.org/C113364801","wikidata":"https://www.wikidata.org/wiki/Q26674","display_name":"High fidelity","level":2,"score":0.5112216472625732},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5050535798072815},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.455860435962677},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42633163928985596},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3287137746810913},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2623404860496521},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09190607070922852},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09089678525924683},{"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/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2015.7139267","doi":"https://doi.org/10.1109/icra.2015.7139267","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139267","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:96747","doi":null,"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139267>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Konferenzbeitrag"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321602","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt","ror":"https://ror.org/04bwf3e34"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W127505597","https://openalex.org/W132080193","https://openalex.org/W145270487","https://openalex.org/W1493088396","https://openalex.org/W1499655155","https://openalex.org/W1984343324","https://openalex.org/W1989284849","https://openalex.org/W1992157405","https://openalex.org/W2005265972","https://openalex.org/W2007330188","https://openalex.org/W2010538262","https://openalex.org/W2014592086","https://openalex.org/W2065644102","https://openalex.org/W2142281964","https://openalex.org/W2153631465","https://openalex.org/W2158101797","https://openalex.org/W2561111412","https://openalex.org/W3144507692","https://openalex.org/W4232284624","https://openalex.org/W4236014485","https://openalex.org/W4249793212","https://openalex.org/W4406030037"],"related_works":["https://openalex.org/W2566542686","https://openalex.org/W2981761103","https://openalex.org/W3003384867","https://openalex.org/W3152006595","https://openalex.org/W2110036466","https://openalex.org/W2775015397","https://openalex.org/W2796731896","https://openalex.org/W7019004364","https://openalex.org/W2142281964","https://openalex.org/W2726801465"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,32,37,53],"control":[4],"strategy":[5],"to":[6,48,55],"achieve":[7],"high":[8],"fidelity":[9],"dynamics":[10,30,82],"simulation":[11],"rendered":[12,35,81],"on":[13,36],"admittance":[14],"controlled":[15],"robotic":[16],"facilities.":[17],"It":[18],"explores":[19],"the":[20,28,46,63,76,80,89,95,98,101],"reasons":[21],"for":[22],"an":[23],"increasing":[24],"energy":[25],"found":[26,74],"in":[27,75,105],"virtual":[29],"of":[31,40,65,79,94,100],"free-floating":[33],"satellite":[34],"six":[38],"degree":[39],"freedom":[41],"robot,":[42],"which":[43],"can":[44],"lead":[45],"system":[47,96],"become":[49],"unstable":[50],"and":[51,83,97,107],"proposes":[52],"method":[54,61,102],"cope":[56],"with":[57],"it.":[58],"The":[59,92],"proposed":[60],"identifies":[62],"sources":[64],"intrinsic":[66],"instability":[67],"provoked":[68],"by":[69],"time":[70],"delays":[71],"that":[72],"are":[73,103,108],"computational":[77],"loop":[78],"counteracts":[84],"their":[85],"destabilizing":[86],"effects":[87],"using":[88],"passivity":[90],"criteria.":[91],"performance":[93],"benefits":[99],"shown":[104],"simulations":[106],"verified":[109],"experimentally.":[110]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1}],"updated_date":"2026-10-27T15:51:10.671819","created_date":"2016-06-24T00:00:00"}