{"id":"https://openalex.org/W7155070708","doi":"https://doi.org/10.1016/j.robot.2026.105483","title":"NMPC-based variable admittance control with passivity constraints","display_name":"NMPC-based variable admittance control with passivity constraints","publication_year":2026,"publication_date":"2026-04-21","ids":{"openalex":"https://openalex.org/W7155070708","doi":"https://doi.org/10.1016/j.robot.2026.105483"},"language":"en","primary_location":{"id":"doi:10.1016/j.robot.2026.105483","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.robot.2026.105483","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1016/j.robot.2026.105483","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068200195","display_name":"Thibault Poignonec","orcid":"https://orcid.org/0000-0002-7016-7397"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I154526488","display_name":"Inserm","ror":"https://ror.org/02vjkv261","country_code":"FR","type":"government","lineage":["https://openalex.org/I154526488"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Thibault Poignonec","raw_affiliation_strings":["Universit\u00e9 de Strasbourg, CNRS, INSERM, ICube, UMR7357, Strasbourg, France"],"raw_orcid":"https://orcid.org/0000-0002-7016-7397","affiliations":[{"raw_affiliation_string":"Universit\u00e9 de Strasbourg, CNRS, INSERM, ICube, UMR7357, Strasbourg, France","institution_ids":["https://openalex.org/I154526488","https://openalex.org/I68947357","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064223962","display_name":"Bernard Bayle","orcid":"https://orcid.org/0000-0003-4728-8593"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I154526488","display_name":"Inserm","ror":"https://ror.org/02vjkv261","country_code":"FR","type":"government","lineage":["https://openalex.org/I154526488"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Bernard Bayle","raw_affiliation_strings":["Universit\u00e9 de Strasbourg, CNRS, INSERM, ICube, UMR7357, Strasbourg, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit\u00e9 de Strasbourg, CNRS, INSERM, ICube, UMR7357, Strasbourg, France","institution_ids":["https://openalex.org/I154526488","https://openalex.org/I68947357","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084220323","display_name":"Lo\u00efc Cuvillon","orcid":"https://orcid.org/0000-0002-2740-051X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I154526488","display_name":"Inserm","ror":"https://ror.org/02vjkv261","country_code":"FR","type":"government","lineage":["https://openalex.org/I154526488"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Lo\u00efc Cuvillon","raw_affiliation_strings":["Universit\u00e9 de Strasbourg, CNRS, INSERM, ICube, UMR7357, Strasbourg, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit\u00e9 de Strasbourg, CNRS, INSERM, ICube, UMR7357, Strasbourg, France","institution_ids":["https://openalex.org/I154526488","https://openalex.org/I68947357","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110841364","display_name":"Hassan Omran","orcid":"https://orcid.org/0000-0003-1664-7792"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I154526488","display_name":"Inserm","ror":"https://ror.org/02vjkv261","country_code":"FR","type":"government","lineage":["https://openalex.org/I154526488"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Hassan Omran","raw_affiliation_strings":["Universit\u00e9 de Strasbourg, CNRS, INSERM, ICube, UMR7357, Strasbourg, France"],"raw_orcid":"https://orcid.org/0000-0003-1664-7792","affiliations":[{"raw_affiliation_string":"Universit\u00e9 de Strasbourg, CNRS, INSERM, ICube, UMR7357, Strasbourg, France","institution_ids":["https://openalex.org/I154526488","https://openalex.org/I68947357","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5110841364"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I68947357"],"apc_list":{"value":3020,"currency":"USD","value_usd":3020},"apc_paid":{"value":3020,"currency":"USD","value_usd":3020},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.43930095,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"202","issue":null,"first_page":"105483","last_page":"105483"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.2467000037431717,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.2467000037431717,"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":0.23019999265670776,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.17499999701976776,"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/passivity","display_name":"Passivity","score":0.9560999870300293},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.9366000294685364},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7936000227928162},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.679099977016449},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6646000146865845},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6064000129699707},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5616000294685364},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5561000108718872}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.9560999870300293},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.9366000294685364},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7936000227928162},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7462999820709229},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.679099977016449},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6646000146865845},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6064000129699707},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5616000294685364},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5561000108718872},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48980000615119934},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4462999999523163},{"id":"https://openalex.org/C129537906","wikidata":"https://www.wikidata.org/wiki/Q7603913","display_name":"State variable","level":2,"score":0.4433000087738037},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4065999984741211},{"id":"https://openalex.org/C113805353","wikidata":"https://www.wikidata.org/wiki/Q13424600","display_name":"Impedance parameters","level":3,"score":0.3569999933242798},{"id":"https://openalex.org/C8171440","wikidata":"https://www.wikidata.org/wiki/Q903414","display_name":"Steady state (chemistry)","level":2,"score":0.3441999852657318},{"id":"https://openalex.org/C153240184","wikidata":"https://www.wikidata.org/wiki/Q3243772","display_name":"Control variable","level":2,"score":0.32260000705718994},{"id":"https://openalex.org/C133833761","wikidata":"https://www.wikidata.org/wiki/Q16001847","display_name":"Admittance parameters","level":3,"score":0.3147999942302704},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.303600013256073}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1016/j.robot.2026.105483","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.robot.2026.105483","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-05613631v1","is_oa":true,"landing_page_url":"https://hal.science/hal-05613631","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics and Autonomous Systems, 2026, 202, pp.105483. &#x27E8;10.1016/j.robot.2026.105483&#x27E9;","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1016/j.robot.2026.105483","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.robot.2026.105483","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1945252290","https://openalex.org/W1967377907","https://openalex.org/W2010561502","https://openalex.org/W2296039882","https://openalex.org/W2517641405","https://openalex.org/W2766966634","https://openalex.org/W2953943807","https://openalex.org/W3125674422","https://openalex.org/W3179588321","https://openalex.org/W3207305612","https://openalex.org/W4205658840","https://openalex.org/W4243385754","https://openalex.org/W4285204099","https://openalex.org/W4293049973","https://openalex.org/W4295916778","https://openalex.org/W4312646552","https://openalex.org/W4366777085","https://openalex.org/W4376464523","https://openalex.org/W4391260208","https://openalex.org/W4408780387"],"related_works":[],"abstract_inverted_index":{"When":[0],"robots":[1],"interact":[2],"with":[3,62],"their":[4],"environment,":[5],"managing":[6],"the":[7,75,82,89,95,99,103,107],"physical":[8],"interaction":[9,21],"safely":[10],"and":[11,16,22,98,106],"accurately":[12],"is":[13,35],"critical.":[14],"Impedance":[15],"admittance":[17,60],"control":[18,28,61,70,91,108],"allow":[19],"such":[20],"have":[23],"been":[24],"fundamental":[25],"to":[26,38,49,57,86],"robotic":[27],"for":[29],"decades.":[30],"For":[31],"challenging":[32],"applications,":[33],"it":[34],"often":[36],"necessary":[37],"implement":[39,58],"a":[40,55],"time-varying":[41],"impedance":[42,76],"profile,":[43],"which":[44],"necessitates":[45],"more":[46],"complex":[47],"conditions":[48],"guarantee":[50],"stability.":[51],"This":[52],"paper":[53],"introduces":[54],"method":[56],"variable":[59],"explicit":[63],"passivity":[64,96],"constraints":[65],"using":[66],"non-linear":[67],"model":[68],"predictive":[69,83],"(NMPC).":[71],"The":[72],"dynamics":[73],"of":[74],"parameters":[77],"are":[78],"directly":[79],"included":[80],"in":[81],"controller.":[84],"Contrary":[85],"previous":[87],"approaches,":[88],"computed":[90],"signals":[92],"enforce":[93],"simultaneously":[94],"condition":[97],"constraints,":[100],"on":[101],"both":[102],"robot":[104],"state":[105],"signals.":[109]},"counts_by_year":[],"updated_date":"2026-05-06T06:03:25.996018","created_date":"2026-04-22T00:00:00"}
