{"id":"https://openalex.org/W2993545284","doi":"https://doi.org/10.1177/1729881419885473","title":"Exploiting null space potentials to control arm robots compliantly performing nonlinear tactile tasks","display_name":"Exploiting null space potentials to control arm robots compliantly performing nonlinear tactile tasks","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2993545284","doi":"https://doi.org/10.1177/1729881419885473","mag":"2993545284"},"language":"en","primary_location":{"id":"doi:10.1177/1729881419885473","doi":"https://doi.org/10.1177/1729881419885473","is_oa":true,"landing_page_url":"https://doi.org/10.1177/1729881419885473","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1177/1729881419885473","source":{"id":"https://openalex.org/S169266912","display_name":"International Journal of Advanced Robotic Systems","issn_l":"1729-8806","issn":["1729-8806","1729-8814"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","dongbi-b","norway-1","oarl","poland-40","russia-white-list-2","vabb-shw"],"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Advanced Robotic Systems","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://journals.sagepub.com/doi/pdf/10.1177/1729881419885473","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091381502","display_name":"Nikolas Wilhelm","orcid":"https://orcid.org/0000-0003-3352-2895","observed_orcids":["https://orcid.org/0000-0003-3352-2895"]},"institutions":[{"id":"https://openalex.org/I2802619606","display_name":"TUM Klinikum","ror":"https://ror.org/04jc43x05","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I2802619606","https://openalex.org/I62916508"]},{"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":"Nikolas Wilhelm","raw_affiliation_strings":["Department of Mechanical Engineering, Technical University of Munich, Munich, Germany","Orthopaedic Research, Clinic for Orthopaedics and Sport Orthopaedics, Klinikum rechts der Isar, Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0003-3352-2895","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Orthopaedic Research, Clinic for Orthopaedics and Sport Orthopaedics, Klinikum rechts der Isar, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I2802619606","https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072566909","display_name":"Rainer Burgkart","orcid":"https://orcid.org/0000-0002-9107-4229","observed_orcids":["https://orcid.org/0000-0002-9107-4229"]},"institutions":[{"id":"https://openalex.org/I2802619606","display_name":"TUM Klinikum","ror":"https://ror.org/04jc43x05","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I2802619606","https://openalex.org/I62916508"]},{"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":"Rainer Burgkart","raw_affiliation_strings":["Orthopaedic Research, Clinic for Orthopaedics and Sport Orthopaedics, Klinikum rechts der Isar, Technical University of Munich, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Orthopaedic Research, Clinic for Orthopaedics and Sport Orthopaedics, Klinikum rechts der Isar, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I2802619606","https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075307158","display_name":"Jan J. Lang","orcid":"https://orcid.org/0000-0003-4693-897X","observed_orcids":["https://orcid.org/0000-0003-4693-897X"]},"institutions":[{"id":"https://openalex.org/I2802619606","display_name":"TUM Klinikum","ror":"https://ror.org/04jc43x05","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I2802619606","https://openalex.org/I62916508"]},{"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":"Jan Lang","raw_affiliation_strings":["Department of Mechanical Engineering, Technical University of Munich, Munich, Germany","Orthopaedic Research, Clinic for Orthopaedics and Sport Orthopaedics, Klinikum rechts der Isar, Technical University of Munich, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Orthopaedic Research, Clinic for Orthopaedics and Sport Orthopaedics, Klinikum rechts der Isar, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I2802619606","https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078636607","display_name":"Carina M. Micheler","orcid":"https://orcid.org/0000-0001-7321-2336","observed_orcids":["https://orcid.org/0000-0001-7321-2336"]},"institutions":[{"id":"https://openalex.org/I2802619606","display_name":"TUM Klinikum","ror":"https://ror.org/04jc43x05","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I2802619606","https://openalex.org/I62916508"]},{"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":"Carina Micheler","raw_affiliation_strings":["Department of Mechanical Engineering, Technical University of Munich, Munich, Germany","Orthopaedic Research, Clinic for Orthopaedics and Sport Orthopaedics, Klinikum rechts der Isar, Technical University of Munich, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Orthopaedic Research, Clinic for Orthopaedics and Sport Orthopaedics, Klinikum rechts der Isar, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I2802619606","https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074953039","display_name":"Constantin von Deimling","orcid":"https://orcid.org/0000-0002-7633-6622","observed_orcids":["https://orcid.org/0000-0002-7633-6622"]},"institutions":[{"id":"https://openalex.org/I2802619606","display_name":"TUM Klinikum","ror":"https://ror.org/04jc43x05","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I2802619606","https://openalex.org/I62916508"]},{"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":true,"raw_author_name":"Constantin von Deimling","raw_affiliation_strings":["Department of Mechanical Engineering, Technical University of Munich, Munich, Germany","Orthopaedic Research, Clinic for Orthopaedics and Sport Orthopaedics, Klinikum rechts der Isar, Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0002-7633-6622","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Orthopaedic Research, Clinic for Orthopaedics and Sport Orthopaedics, Klinikum rechts der Isar, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I2802619606","https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5074953039"],"corresponding_institution_ids":["https://openalex.org/I2802619606","https://openalex.org/I62916508"],"apc_list":{"value":1500,"currency":"USD","value_usd":1500},"apc_paid":{"value":982,"currency":"EUR","value_usd":1059},"fwci":0.0,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":93},"biblio":{"volume":"16","issue":"6","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.573199987411499,"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":"Robot Manipulation and Learning","score":0.573199987411499,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.26339998841285706,"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/T10868","display_name":"Soft Robotics and Applications","score":0.07280000299215317,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/null-space-control","display_name":"null space control","score":0.9100000262260437},{"id":"https://openalex.org/keywords/compliant-control","display_name":"compliant control","score":0.8930000066757202},{"id":"https://openalex.org/keywords/redundant-manipulators","display_name":"redundant manipulators","score":0.6779999732971191},{"id":"https://openalex.org/keywords/uncertain-environments","display_name":"uncertain environments","score":0.4480000138282776},{"id":"https://openalex.org/keywords/impedance-control","display_name":"impedance control","score":0.6050000190734863},{"id":"https://openalex.org/keywords/hybrid-control","display_name":"hybrid control","score":0.9449999928474426},{"id":"https://openalex.org/keywords/industrial-robotic-arm","display_name":"industrial robot arm","score":0.3529999852180481}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7566686868667603},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.7237100601196289},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6865529417991638},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6094748973846436},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5664129853248596},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5340710282325745},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5323503613471985},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5089280605316162},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.44387680292129517},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37717366218566895},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3312211334705353},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3220839500427246},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12802669405937195},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1177/1729881419885473","doi":"https://doi.org/10.1177/1729881419885473","is_oa":true,"landing_page_url":"https://doi.org/10.1177/1729881419885473","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1177/1729881419885473","source":{"id":"https://openalex.org/S169266912","display_name":"International Journal of Advanced Robotic Systems","issn_l":"1729-8806","issn":["1729-8806","1729-8814"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","dongbi-b","norway-1","oarl","poland-40","russia-white-list-2","vabb-shw"],"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Advanced Robotic Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:147c4feec86e46139ccc887ca12cc46a","doi":null,"is_oa":true,"landing_page_url":"https://doaj.org/article/147c4feec86e46139ccc887ca12cc46a","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Journal of Advanced Robotic Systems, Vol 16 (2019)","raw_type":"article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1543486","doi":null,"is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1543486","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1589633","doi":null,"is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1589633","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1177/1729881419885473","doi":"https://doi.org/10.1177/1729881419885473","is_oa":true,"landing_page_url":"https://doi.org/10.1177/1729881419885473","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1177/1729881419885473","source":{"id":"https://openalex.org/S169266912","display_name":"International Journal of Advanced Robotic Systems","issn_l":"1729-8806","issn":["1729-8806","1729-8814"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","dongbi-b","norway-1","oarl","poland-40","russia-white-list-2","vabb-shw"],"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Advanced Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2993545284.pdf","grobid_xml":"https://content.openalex.org/works/W2993545284.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1566405224","https://openalex.org/W1976030291","https://openalex.org/W1996333439","https://openalex.org/W2016958754","https://openalex.org/W2017239762","https://openalex.org/W2023782398","https://openalex.org/W2032381729","https://openalex.org/W2033885299","https://openalex.org/W2091271588","https://openalex.org/W2100790457","https://openalex.org/W2110612452","https://openalex.org/W2112474089","https://openalex.org/W2130256951","https://openalex.org/W2131666656","https://openalex.org/W2133170315","https://openalex.org/W2153577013","https://openalex.org/W2154847670","https://openalex.org/W2164032318","https://openalex.org/W2169564405","https://openalex.org/W2295584263","https://openalex.org/W2510160634","https://openalex.org/W2528951757","https://openalex.org/W2532272934","https://openalex.org/W3142707146","https://openalex.org/W3148166280","https://openalex.org/W4256052366"],"related_works":["https://openalex.org/W2414272429","https://openalex.org/W2329399298","https://openalex.org/W4388330384","https://openalex.org/W2886729079","https://openalex.org/W1986152369","https://openalex.org/W2031749671","https://openalex.org/W119252496","https://openalex.org/W4416749366","https://openalex.org/W2910419508","https://openalex.org/W2895232265"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"two":[3,121],"new":[4],"compliant":[5],"control":[6],"architectures":[7,44],"are":[8,22,85,106],"introduced":[9,83],"that":[10,81,119],"utilize":[11],"null":[12],"space":[13],"solutions":[14],"to":[15,24,38,57],"decouple":[16],"force":[17],"and":[18,29,34,96],"position":[19],"control.":[20,49],"They":[21],"capable":[23],"interact":[25],"with":[26,31,60,72],"uncertain":[27],"surfaces":[28],"environments":[30],"varying":[32],"materials":[33],"require":[35],"fewer":[36],"parameters":[37],"be":[39,79],"tuned":[40],"than":[41],"the":[42,82,91,104,127],"common":[43],"\u2013":[45],"hybrid":[46],"or":[47],"impedance":[48],"The":[50],"general":[51],"concept":[52],"behind":[53],"these":[54],"approaches":[55,84],"allows":[56],"consider":[58],"manipulators":[59],"six":[61,115],"degrees":[62,93,116],"of":[63,90,94,117,126],"freedom":[64,95],"as":[65],"redundant":[66],"by":[67],"creating":[68],"a":[69,73,109],"virtual":[70],"redundancy":[71],"reduced":[74],"work":[75],"space.":[76],"It":[77],"will":[78],"demonstrated":[80],"superior":[86],"regarding":[87],"orthogonal":[88],"separation":[89],"Cartesian":[92],"avoid":[97],"inner":[98],"singularities.":[99],"To":[100],"demonstrate":[101],"their":[102],"performance,":[103],"controllers":[105],"tested":[107],"on":[108],"standard":[110],"industrial":[111],"robot":[112],"(St\u00e4ubli,":[113],"RX90B,":[114],"freedom)":[118],"actuates":[120],"different":[122],"biomechanically":[123],"inspired":[124],"models":[125],"human":[128],"knee":[129],"joint.":[130]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-10-07T09:51:55.459714","created_date":"2019-12-13T00:00:00"}