{"id":"https://openalex.org/W2151394718","doi":"https://doi.org/10.1002/rob.4620110103","title":"Stable interaction control and coulomb friction compensation using natural admittance control","display_name":"Stable interaction control and coulomb friction compensation using natural admittance control","publication_year":1994,"publication_date":"1994-01-01","ids":{"openalex":"https://openalex.org/W2151394718","doi":"https://doi.org/10.1002/rob.4620110103","mag":"2151394718"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620110103","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620110103","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"},"type":"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/A5028285158","display_name":"Wyatt S. Newman","orcid":"https://orcid.org/0000-0001-6489-9164"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Wyatt S. Newman","raw_affiliation_strings":["Department of Electrical Engineering and Applied Physics, Case Western Reserve University Cleveland, Ohio 44106"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Applied Physics, Case Western Reserve University Cleveland, Ohio 44106","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017407742","display_name":"Yuandao Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]},{"id":"https://openalex.org/I4210117296","display_name":"Institute of Health Visiting","ror":"https://ror.org/01p894e02","country_code":"GB","type":"healthcare","lineage":["https://openalex.org/I4210117296"]},{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Yuandao Zhang","raw_affiliation_strings":["Center for Automation and Intelligent Systems Research  Case Western Reserve University Cleveland, Ohio 44106","Visiting Scholar"],"affiliations":[{"raw_affiliation_string":"Center for Automation and Intelligent Systems Research  Case Western Reserve University Cleveland, Ohio 44106","institution_ids":["https://openalex.org/I58956616","https://openalex.org/I4210105785"]},{"raw_affiliation_string":"Visiting Scholar","institution_ids":["https://openalex.org/I4210117296"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5028285158"],"corresponding_institution_ids":["https://openalex.org/I58956616"],"apc_list":null,"apc_paid":null,"fwci":1.7128,"has_fulltext":false,"cited_by_count":69,"citation_normalized_percentile":{"value":0.85656986,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"11","issue":"1","first_page":"3","last_page":"11"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9979000091552734,"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":0.9979000091552734,"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":"Teleoperation and Haptic Systems","score":0.9965000152587891,"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/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9922000169754028,"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/control-theory","display_name":"Control theory (sociology)","score":0.8029247522354126},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.6123635172843933},{"id":"https://openalex.org/keywords/coulomb","display_name":"Coulomb","score":0.5882845520973206},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5756499767303467},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5294649004936218},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.521967351436615},{"id":"https://openalex.org/keywords/phase-compensation","display_name":"Phase compensation","score":0.5184630751609802},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4885004758834839},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.47751063108444214},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44300758838653564},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42102959752082825},{"id":"https://openalex.org/keywords/coulomb-friction","display_name":"Coulomb friction","score":0.418567419052124},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4163254499435425},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.41166719794273376},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.3699732720851898},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.2832139730453491},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20320293307304382},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08942839503288269},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.06633827090263367},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0645158588886261}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8029247522354126},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.6123635172843933},{"id":"https://openalex.org/C9342510","wikidata":"https://www.wikidata.org/wiki/Q25406","display_name":"Coulomb","level":3,"score":0.5882845520973206},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5756499767303467},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5294649004936218},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.521967351436615},{"id":"https://openalex.org/C2984249346","wikidata":"https://www.wikidata.org/wiki/Q185553","display_name":"Phase compensation","level":3,"score":0.5184630751609802},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4885004758834839},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.47751063108444214},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44300758838653564},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42102959752082825},{"id":"https://openalex.org/C2986328948","wikidata":"https://www.wikidata.org/wiki/Q82580","display_name":"Coulomb friction","level":3,"score":0.418567419052124},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4163254499435425},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.41166719794273376},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.3699732720851898},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2832139730453491},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20320293307304382},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08942839503288269},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.06633827090263367},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0645158588886261},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C147120987","wikidata":"https://www.wikidata.org/wiki/Q2225","display_name":"Electron","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620110103","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620110103","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1523539331","https://openalex.org/W1890856121","https://openalex.org/W1967377907","https://openalex.org/W1974357213","https://openalex.org/W1992616600","https://openalex.org/W2010561502","https://openalex.org/W2015027694","https://openalex.org/W2016958754","https://openalex.org/W2095477585","https://openalex.org/W2101530446","https://openalex.org/W2102910763","https://openalex.org/W2103229768","https://openalex.org/W2105660272","https://openalex.org/W2107546765","https://openalex.org/W2108792235","https://openalex.org/W2115934522","https://openalex.org/W2123536574","https://openalex.org/W2150367199","https://openalex.org/W2154547128","https://openalex.org/W2156102255","https://openalex.org/W2158796185","https://openalex.org/W2161100229","https://openalex.org/W2164301889","https://openalex.org/W2167832378","https://openalex.org/W2181518697","https://openalex.org/W2381523230","https://openalex.org/W2682866729","https://openalex.org/W3022370139"],"related_works":["https://openalex.org/W2722509704","https://openalex.org/W204824414","https://openalex.org/W4313421420","https://openalex.org/W2890511978","https://openalex.org/W2319640990","https://openalex.org/W2054631599","https://openalex.org/W1594699917","https://openalex.org/W2587252135","https://openalex.org/W2341894045","https://openalex.org/W1948090100"],"abstract_inverted_index":{"Abstract":[0],"A":[1],"new":[2,29],"control":[3],"system":[4,83],"design":[5],"formulation":[6,30],"is":[7,22,37,95],"presented":[8,79],"for":[9,70,80],"achieving":[10],"high\u2010performance,":[11],"guaranteed\u2010stable":[12],"impedance":[13],"control.":[14],"While":[15],"the":[16,19,28,40,49,93],"bandwidth":[17],"of":[18,48],"resulting":[20,53],"controller":[21,71],"no":[23],"higher":[24],"than":[25],"alternative":[26],"techniques,":[27],"significantly":[31],"improves":[32],"performance":[33,76],"when":[34],"Coulomb":[35,88],"friction":[36,100],"present":[38],"in":[39,97],"system.":[41],"The":[42,52],"technique":[43,94],"requires":[44],"a":[45,81,105],"careful":[46],"choice":[47],"target":[50],"impedance.":[51,108],"feedback":[54],"compensators":[55],"are":[56,64,73,78],"causal":[57],"and":[58,87],"have":[59],"stable":[60],"poles,":[61],"although":[62],"they":[63],"often":[65],"non\u2010minimum":[66],"phase.":[67],"General":[68],"rules":[69],"synthesis":[72],"derived.":[74],"Experimental":[75],"results":[77],"two\u2010mass":[82],"with":[84],"internal":[85,99],"compliance":[86],"friction.":[89],"Results":[90],"demonstrate":[91],"that":[92],"successful":[96],"rejecting":[98],"force":[101],"disturbances":[102],"while":[103],"maintaining":[104],"passive":[106],"driving\u2010point":[107],"\u00a9":[109],"1994":[110],"John":[111],"Wiley":[112],"&":[113],"Sons,":[114],"Inc.":[115]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}