{"id":"https://openalex.org/W2105176401","doi":"https://doi.org/10.1007/bfb0036127","title":"The equivalence of second order impedance control and proportional gain explicit force control: Theory and experiments","display_name":"The equivalence of second order impedance control and proportional gain explicit force control: Theory and experiments","publication_year":2006,"publication_date":"2006-01-25","ids":{"openalex":"https://openalex.org/W2105176401","doi":"https://doi.org/10.1007/bfb0036127","mag":"2105176401"},"language":"en","primary_location":{"id":"doi:10.1007/bfb0036127","is_oa":false,"landing_page_url":"https://doi.org/10.1007/bfb0036127","pdf_url":null,"source":{"id":"https://openalex.org/S49978999","display_name":"Lecture notes in control and information sciences","issn_l":"0170-8643","issn":["0170-8643","1610-7411"],"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":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Control and Information Sciences","raw_type":"book-chapter"},"type":"book-chapter","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/A5048439981","display_name":"R. Volpe","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Richard Volpe","raw_affiliation_strings":["The Jet Propulsion Laboratory, California Institute of Technology, 91109, Pasadena, California","California  Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Jet Propulsion Laboratory, California Institute of Technology, 91109, Pasadena, California","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"California  Institute of Technology","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103573531","display_name":"Pradeep K. Khosla","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pradeep Khosla","raw_affiliation_strings":["Department of Electrical and Computer Engineering, The Robotics Institute, Carnegie Mellon University, 15213, Pittsburgh, Pennsylvania","Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, The Robotics Institute, Carnegie Mellon University, 15213, Pittsburgh, Pennsylvania","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.22991607,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"24"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9991000294685364,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9832000136375427,"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/feed-forward","display_name":"Feed forward","score":0.7787462472915649},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7071105241775513},{"id":"https://openalex.org/keywords/equivalence","display_name":"Equivalence (formal languages)","score":0.6981666684150696},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.60968416929245},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5780258178710938},{"id":"https://openalex.org/keywords/proportional-control","display_name":"Proportional control","score":0.5339202880859375},{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"Mechanical impedance","score":0.5062054991722107},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.44513261318206787},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4338158369064331},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.4274039566516876},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.35634952783584595},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.31476593017578125},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3045363426208496},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27899056673049927},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.20346274971961975},{"id":"https://openalex.org/keywords/quantum-mechanics","display_name":"Quantum mechanics","score":0.07290634512901306},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.06309932470321655}],"concepts":[{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.7787462472915649},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7071105241775513},{"id":"https://openalex.org/C2780069185","wikidata":"https://www.wikidata.org/wiki/Q7977945","display_name":"Equivalence (formal languages)","level":2,"score":0.6981666684150696},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.60968416929245},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5780258178710938},{"id":"https://openalex.org/C96224696","wikidata":"https://www.wikidata.org/wiki/Q2043486","display_name":"Proportional control","level":3,"score":0.5339202880859375},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.5062054991722107},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.44513261318206787},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4338158369064331},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4274039566516876},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.35634952783584595},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.31476593017578125},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3045363426208496},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27899056673049927},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.20346274971961975},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.07290634512901306},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.06309932470321655},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1007/bfb0036127","is_oa":false,"landing_page_url":"https://doi.org/10.1007/bfb0036127","pdf_url":null,"source":{"id":"https://openalex.org/S49978999","display_name":"Lecture notes in control and information sciences","issn_l":"0170-8643","issn":["0170-8643","1610-7411"],"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":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Control and Information Sciences","raw_type":"book-chapter"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.56.5696","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.56.5696","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://telerobotics.jpl.nasa.gov/people/volpe/papers/Bicefc.ps.gz","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.72.9984","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.72.9984","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/pub2/volpe_r_1995_1/volpe_r_1995_1.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.915.1727","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.915.1727","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://repository.cmu.edu/cgi/viewcontent.cgi?article%3D1570%26context%3Disr","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1569867348","https://openalex.org/W1578038264","https://openalex.org/W1945460095","https://openalex.org/W1951296436","https://openalex.org/W1967377907","https://openalex.org/W2096816790","https://openalex.org/W2103120971","https://openalex.org/W2105660272","https://openalex.org/W2116176144","https://openalex.org/W2118801568","https://openalex.org/W2123671628","https://openalex.org/W2127661588","https://openalex.org/W2132294818","https://openalex.org/W2137254020","https://openalex.org/W2154786710","https://openalex.org/W2155829031","https://openalex.org/W2162612416","https://openalex.org/W2164450398","https://openalex.org/W2490168164","https://openalex.org/W3003414503","https://openalex.org/W4285719527","https://openalex.org/W6633969785"],"related_works":["https://openalex.org/W2011737899","https://openalex.org/W2105126143","https://openalex.org/W4308480823","https://openalex.org/W2573068166","https://openalex.org/W1992974134","https://openalex.org/W2904885586","https://openalex.org/W1910603216","https://openalex.org/W3003109530","https://openalex.org/W4229014760","https://openalex.org/W2133595155"],"abstract_inverted_index":null,"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}