{"id":"https://openalex.org/W2091678675","doi":"https://doi.org/10.1016/s0005-1098(97)00113-1","title":"Implicit force control for industrial robots in contact with stiff surfaces","display_name":"Implicit force control for industrial robots in contact with stiff surfaces","publication_year":1997,"publication_date":"1997-11-01","ids":{"openalex":"https://openalex.org/W2091678675","doi":"https://doi.org/10.1016/s0005-1098(97)00113-1","mag":"2091678675"},"language":"en","primary_location":{"id":"doi:10.1016/s0005-1098(97)00113-1","is_oa":false,"landing_page_url":"https://doi.org/10.1016/s0005-1098(97)00113-1","pdf_url":null,"source":{"id":"https://openalex.org/S51360982","display_name":"Automatica","issn_l":"0005-1098","issn":["0005-1098","1873-2836"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Automatica","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/A5065821384","display_name":"Paolo Rocco","orcid":"https://orcid.org/0000-0001-6716-434X"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Paolo Rocco","raw_affiliation_strings":["Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133, Milano, Italy","Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci, 32-20133, Milano, Italy#TAB#"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci, 32-20133, Milano, Italy#TAB#","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004708144","display_name":"Gianni Ferretti","orcid":"https://orcid.org/0000-0001-5321-8992"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gianni Ferretti","raw_affiliation_strings":["Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133, Milano, Italy","Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci, 32-20133, Milano, Italy#TAB#"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci, 32-20133, Milano, Italy#TAB#","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039518248","display_name":"G. Magnani","orcid":"https://orcid.org/0000-0003-4879-6514"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gianantonio Magnani","raw_affiliation_strings":["Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133, Milano, Italy","Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci, 32-20133, Milano, Italy#TAB#"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci, 32-20133, Milano, Italy#TAB#","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5065821384"],"corresponding_institution_ids":["https://openalex.org/I93860229"],"apc_list":{"value":3500,"currency":"USD","value_usd":3500},"apc_paid":null,"fwci":4.7793,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.95104722,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"33","issue":"11","first_page":"2041","last_page":"2047"},"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":0.9972000122070312,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9961000084877014,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7947922945022583},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6099646091461182},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6062027215957642},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.5951173305511475},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5549128651618958},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5243589878082275},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.511784017086029},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5006990432739258},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.4961465299129486},{"id":"https://openalex.org/keywords/reaction","display_name":"Reaction","score":0.4564010202884674},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45232564210891724},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38831740617752075},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3592304587364197},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3226608335971832},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2780059576034546},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.21339267492294312},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.16855400800704956},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1657746434211731},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16142556071281433},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11266434192657471}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7947922945022583},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6099646091461182},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6062027215957642},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5951173305511475},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5549128651618958},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5243589878082275},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.511784017086029},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5006990432739258},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.4961465299129486},{"id":"https://openalex.org/C99664630","wikidata":"https://www.wikidata.org/wiki/Q343546","display_name":"Reaction","level":2,"score":0.4564010202884674},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45232564210891724},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38831740617752075},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3592304587364197},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3226608335971832},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2780059576034546},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.21339267492294312},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.16855400800704956},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1657746434211731},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16142556071281433},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11266434192657471},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1016/s0005-1098(97)00113-1","is_oa":false,"landing_page_url":"https://doi.org/10.1016/s0005-1098(97)00113-1","pdf_url":null,"source":{"id":"https://openalex.org/S51360982","display_name":"Automatica","issn_l":"0005-1098","issn":["0005-1098","1873-2836"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Automatica","raw_type":"journal-article"},{"id":"pmh:oai:re.public.polimi.it:11311/514836","is_oa":false,"landing_page_url":"http://hdl.handle.net/11311/514836","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:re.public.polimi.it:11311/564163","is_oa":false,"landing_page_url":"http://hdl.handle.net/11311/564163","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W3506938","https://openalex.org/W1578038264","https://openalex.org/W1582353822","https://openalex.org/W1753351857","https://openalex.org/W1941539582","https://openalex.org/W1962799771","https://openalex.org/W1997520484","https://openalex.org/W2002710189","https://openalex.org/W2014626351","https://openalex.org/W2023716433","https://openalex.org/W2046324353","https://openalex.org/W2105015109","https://openalex.org/W2113041525","https://openalex.org/W2141314596","https://openalex.org/W2149187245","https://openalex.org/W2153940135","https://openalex.org/W2170731884","https://openalex.org/W2283952362","https://openalex.org/W2490168164","https://openalex.org/W6600127496","https://openalex.org/W6634559319","https://openalex.org/W6638153156","https://openalex.org/W6641122622","https://openalex.org/W6674656577","https://openalex.org/W6675958424"],"related_works":["https://openalex.org/W2157702526","https://openalex.org/W1971225351","https://openalex.org/W2153327331","https://openalex.org/W2093105581","https://openalex.org/W2093958626","https://openalex.org/W2197323063","https://openalex.org/W2742341619","https://openalex.org/W2753772722","https://openalex.org/W2743110491","https://openalex.org/W2568176029"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}