{"id":"https://openalex.org/W4410591543","doi":"https://doi.org/10.1016/j.robot.2025.105008","title":"Enhancing constant force tracking in uncertain contact surfaces: An admittance controller utilizing virtual delayed resonator","display_name":"Enhancing constant force tracking in uncertain contact surfaces: An admittance controller utilizing virtual delayed resonator","publication_year":2025,"publication_date":"2025-05-22","ids":{"openalex":"https://openalex.org/W4410591543","doi":"https://doi.org/10.1016/j.robot.2025.105008"},"language":"en","primary_location":{"id":"doi:10.1016/j.robot.2025.105008","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.robot.2025.105008","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":null,"license_id":null,"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100367290","display_name":"Gang Wang","orcid":"https://orcid.org/0000-0001-5377-2547"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Wang","raw_affiliation_strings":["School of Automation, Beijing University of Posts and Telecommunications, Beijing, 100876, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecommunications, Beijing, 100876, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107326071","display_name":"Nanzhi Xie","orcid":"https://orcid.org/0009-0002-5586-0924"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nanzhi Xie","raw_affiliation_strings":["School of Automation, Beijing University of Posts and Telecommunications, Beijing, 100876, China"],"raw_orcid":"https://orcid.org/0009-0002-5586-0924","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecommunications, Beijing, 100876, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112712558","display_name":"Honglei Che","orcid":null},"institutions":[{"id":"https://openalex.org/I4210109779","display_name":"China Academy of Safety Sciences and Technology","ror":"https://ror.org/01pwpsm46","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210109779"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Honglei Che","raw_affiliation_strings":["Beijing Key Laboratory of Metro Fire and Passenger Transportation Safety, China Academy of Safety Science and Technology, Beijing, 100012, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Metro Fire and Passenger Transportation Safety, China Academy of Safety Science and Technology, Beijing, 100012, China","institution_ids":["https://openalex.org/I4210109779"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086662307","display_name":"Qi Zhang","orcid":"https://orcid.org/0000-0002-7971-8271"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Zhang","raw_affiliation_strings":["School of Automation, Beijing University of Posts and Telecommunications, Beijing, 100876, China"],"raw_orcid":"https://orcid.org/0000-0002-7971-8271","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecommunications, Beijing, 100876, China","institution_ids":["https://openalex.org/I139759216"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5112712558"],"corresponding_institution_ids":["https://openalex.org/I4210109779"],"apc_list":{"value":3140,"currency":"USD","value_usd":3140},"apc_paid":null,"fwci":1.2204,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.7463297,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"192","issue":null,"first_page":"105008","last_page":"105008"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9801999926567078,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9800999760627747,"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/admittance","display_name":"Admittance","score":0.8142665028572083},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7678951025009155},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.753645658493042},{"id":"https://openalex.org/keywords/resonator","display_name":"Resonator","score":0.6294939517974854},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6108404994010925},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5351940393447876},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5049887299537659},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35845088958740234},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.19863542914390564},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16775402426719666},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.15268230438232422},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1372145414352417},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11651226878166199},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.08623841404914856}],"concepts":[{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.8142665028572083},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7678951025009155},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.753645658493042},{"id":"https://openalex.org/C97126364","wikidata":"https://www.wikidata.org/wiki/Q349669","display_name":"Resonator","level":2,"score":0.6294939517974854},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6108404994010925},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5351940393447876},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5049887299537659},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35845088958740234},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.19863542914390564},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16775402426719666},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.15268230438232422},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1372145414352417},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11651226878166199},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.08623841404914856},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.robot.2025.105008","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.robot.2025.105008","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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","score":0.4300000071525574,"id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G2627180095","display_name":null,"funder_award_id":"2022YFC3302200","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G7017624284","display_name":null,"funder_award_id":"2022YFC3302200","funder_id":"https://openalex.org/F4320335774","funder_display_name":"Key Technologies Research and Development Program"}],"funders":[{"id":"https://openalex.org/F4320335774","display_name":"Key Technologies Research and Development Program","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W2352669049","https://openalex.org/W2748466577","https://openalex.org/W2789837488","https://openalex.org/W3002601801","https://openalex.org/W3044355296","https://openalex.org/W3050117361","https://openalex.org/W3127145539","https://openalex.org/W3134397487","https://openalex.org/W3190259769","https://openalex.org/W4226494925","https://openalex.org/W4232096050","https://openalex.org/W4280542770","https://openalex.org/W4281254931","https://openalex.org/W4288706073","https://openalex.org/W4294897078","https://openalex.org/W4301372664","https://openalex.org/W4307912753","https://openalex.org/W4311717496","https://openalex.org/W4365800070","https://openalex.org/W4368373834","https://openalex.org/W4378982145","https://openalex.org/W4384915864","https://openalex.org/W4385431458","https://openalex.org/W4386366144","https://openalex.org/W4386929442","https://openalex.org/W4400786833","https://openalex.org/W6647586754","https://openalex.org/W6787041772","https://openalex.org/W6853097288","https://openalex.org/W6855183890","https://openalex.org/W6856124482","https://openalex.org/W7018298374"],"related_works":["https://openalex.org/W2200472972","https://openalex.org/W2031643172","https://openalex.org/W2047335472","https://openalex.org/W2367857055","https://openalex.org/W3180133250","https://openalex.org/W2024162929","https://openalex.org/W3205034227","https://openalex.org/W1594265855","https://openalex.org/W2740013582","https://openalex.org/W2038954347"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}
