{"id":"https://openalex.org/W2034057292","doi":"https://doi.org/10.1007/bf00248013","title":"Implementation of robust impedance and force control","display_name":"Implementation of robust impedance and force control","publication_year":1992,"publication_date":"1992-12-01","ids":{"openalex":"https://openalex.org/W2034057292","doi":"https://doi.org/10.1007/bf00248013","mag":"2034057292"},"language":"en","primary_location":{"id":"doi:10.1007/bf00248013","is_oa":false,"landing_page_url":"https://doi.org/10.1007/bf00248013","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent and 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/A5058854170","display_name":"Ziren Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ziren Lu","raw_affiliation_strings":["Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, M5S 1A4, Toronto, Ontario, Canada","Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, M5S 1A4, Toronto, Ontario, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077000350","display_name":"A.A. Goldenberg","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"A.A. Goldenberg","raw_affiliation_strings":["Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, M5S 1A4, Toronto, Ontario, Canada","Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, M5S 1A4, Toronto, Ontario, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I185261750"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":null,"fwci":1.5723,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.82676832,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"6","issue":"2-3","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":0.9998999834060669,"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":0.9998999834060669,"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":0.9986000061035156,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.996399998664856,"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/impedance-control","display_name":"Impedance control","score":0.8915801644325256},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7724575996398926},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.6748148202896118},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6651582717895508},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5712327361106873},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5314335823059082},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5219002366065979},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5160081386566162},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4916713833808899},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4912998080253601},{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"Mechanical impedance","score":0.46251311898231506},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3398342728614807},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31579285860061646},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.2925051152706146},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11963573098182678},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06597894430160522},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.051782071590423584}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.8915801644325256},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7724575996398926},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.6748148202896118},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6651582717895508},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5712327361106873},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5314335823059082},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5219002366065979},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5160081386566162},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4916713833808899},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4912998080253601},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.46251311898231506},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3398342728614807},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31579285860061646},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2925051152706146},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11963573098182678},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06597894430160522},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.051782071590423584},{"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/bf00248013","is_oa":false,"landing_page_url":"https://doi.org/10.1007/bf00248013","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent and 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":14,"referenced_works":["https://openalex.org/W49589094","https://openalex.org/W1505779585","https://openalex.org/W1578038264","https://openalex.org/W1596805757","https://openalex.org/W1951296436","https://openalex.org/W1984598383","https://openalex.org/W2004421225","https://openalex.org/W2102910763","https://openalex.org/W2125037149","https://openalex.org/W2137254020","https://openalex.org/W2155829031","https://openalex.org/W2156102255","https://openalex.org/W2160279521","https://openalex.org/W2170731884"],"related_works":["https://openalex.org/W2687348361","https://openalex.org/W2107057814","https://openalex.org/W2163840478","https://openalex.org/W2021196657","https://openalex.org/W2604922013","https://openalex.org/W1825767996","https://openalex.org/W342790439","https://openalex.org/W4293079275","https://openalex.org/W2360911962","https://openalex.org/W2795355363"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}