{"id":"https://openalex.org/W2966272253","doi":"https://doi.org/10.1007/s12369-019-00579-y","title":"Simplified Stable Admittance Control Using End-Effector Orientations","display_name":"Simplified Stable Admittance Control Using End-Effector Orientations","publication_year":2019,"publication_date":"2019-07-30","ids":{"openalex":"https://openalex.org/W2966272253","doi":"https://doi.org/10.1007/s12369-019-00579-y","mag":"2966272253"},"language":"en","primary_location":{"id":"doi:10.1007/s12369-019-00579-y","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s12369-019-00579-y","pdf_url":null,"source":{"id":"https://openalex.org/S168738021","display_name":"International Journal of Social Robotics","issn_l":"1875-4791","issn":["1875-4791","1875-4805"],"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":"International Journal of Social Robotics","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/A5008201587","display_name":"Wen Yu","orcid":"https://orcid.org/0000-0002-9540-7924"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Center for Research and Advanced Studies of the National Polytechnic Institute","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Wen Yu","raw_affiliation_strings":["Departamento de Control Autom\u00e1tico, CINVESTAV-IPN (National Polytechnic Institute), Av.IPN 2508, 07360, Mexico City, Mexico","Departamento de Control Autom\u00e1tico, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico"],"affiliations":[{"raw_affiliation_string":"Departamento de Control Autom\u00e1tico, CINVESTAV-IPN (National Polytechnic Institute), Av.IPN 2508, 07360, Mexico City, Mexico","institution_ids":["https://openalex.org/I68368234"]},{"raw_affiliation_string":"Departamento de Control Autom\u00e1tico, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065156490","display_name":"Adolfo Perrusqu\u00eda","orcid":"https://orcid.org/0000-0003-2290-1160"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Center for Research and Advanced Studies of the National Polytechnic Institute","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Adolfo Perrusqu\u00eda","raw_affiliation_strings":["Departamento de Control Autom\u00e1tico, CINVESTAV-IPN (National Polytechnic Institute), Av.IPN 2508, 07360, Mexico City, Mexico","Departamento de Control Autom\u00e1tico, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico"],"affiliations":[{"raw_affiliation_string":"Departamento de Control Autom\u00e1tico, CINVESTAV-IPN (National Polytechnic Institute), Av.IPN 2508, 07360, Mexico City, Mexico","institution_ids":["https://openalex.org/I68368234"]},{"raw_affiliation_string":"Departamento de Control Autom\u00e1tico, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico","institution_ids":["https://openalex.org/I68368234"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5008201587"],"corresponding_institution_ids":["https://openalex.org/I68368234"],"apc_list":{"value":2890,"currency":"EUR","value_usd":3690},"apc_paid":null,"fwci":2.9755,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":{"value":0.91352978,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"12","issue":"5","first_page":"1061","last_page":"1073"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9977999925613403,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9977999925613403,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9966999888420105,"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":0.9919999837875366,"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/control-theory","display_name":"Control theory (sociology)","score":0.8047332763671875},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7674250602722168},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.7362024784088135},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6127467155456543},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5967604517936707},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5621793270111084},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4752982556819916},{"id":"https://openalex.org/keywords/tilt","display_name":"Tilt (camera)","score":0.4235369563102722},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41999849677085876},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.41499146819114685},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3405318856239319},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.33780914545059204},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3362095057964325},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2921813428401947},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2503337264060974},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.162580668926239},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1462598443031311},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11885210871696472},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.06626307964324951}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8047332763671875},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7674250602722168},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.7362024784088135},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6127467155456543},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5967604517936707},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5621793270111084},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4752982556819916},{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.4235369563102722},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41999849677085876},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.41499146819114685},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3405318856239319},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33780914545059204},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3362095057964325},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2921813428401947},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2503337264060974},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.162580668926239},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1462598443031311},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11885210871696472},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.06626307964324951},{"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/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s12369-019-00579-y","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s12369-019-00579-y","pdf_url":null,"source":{"id":"https://openalex.org/S168738021","display_name":"International Journal of Social Robotics","issn_l":"1875-4791","issn":["1875-4791","1875-4805"],"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":"International Journal of Social Robotics","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":30,"referenced_works":["https://openalex.org/W109339162","https://openalex.org/W264430869","https://openalex.org/W1496777766","https://openalex.org/W1509669068","https://openalex.org/W1535006160","https://openalex.org/W1548528537","https://openalex.org/W1555776796","https://openalex.org/W1967377907","https://openalex.org/W1978023077","https://openalex.org/W2000450224","https://openalex.org/W2056996905","https://openalex.org/W2057506468","https://openalex.org/W2065676327","https://openalex.org/W2079336331","https://openalex.org/W2103341942","https://openalex.org/W2106168911","https://openalex.org/W2108437236","https://openalex.org/W2124815790","https://openalex.org/W2130135496","https://openalex.org/W2133595155","https://openalex.org/W2136010409","https://openalex.org/W2137860408","https://openalex.org/W2142163623","https://openalex.org/W2150138180","https://openalex.org/W2166276889","https://openalex.org/W2438255111","https://openalex.org/W2765352751","https://openalex.org/W2795268370","https://openalex.org/W2943966366","https://openalex.org/W4236895009"],"related_works":["https://openalex.org/W2115240519","https://openalex.org/W2080642692","https://openalex.org/W27710093","https://openalex.org/W3047523153","https://openalex.org/W4226342200","https://openalex.org/W3016367173","https://openalex.org/W3040474838","https://openalex.org/W4294975949","https://openalex.org/W2292471743","https://openalex.org/W2172144564"],"abstract_inverted_index":null,"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}