{"id":"https://openalex.org/W2467185734","doi":"https://doi.org/10.1017/s0263574716000461","title":"Industrial compliant robot bases in interaction tasks: a force tracking algorithm with coupled dynamics compensation","display_name":"Industrial compliant robot bases in interaction tasks: a force tracking algorithm with coupled dynamics compensation","publication_year":2016,"publication_date":"2016-07-07","ids":{"openalex":"https://openalex.org/W2467185734","doi":"https://doi.org/10.1017/s0263574716000461","mag":"2467185734"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574716000461","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574716000461","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/record/3454675","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086291668","display_name":"Loris Roveda","orcid":"https://orcid.org/0000-0002-4427-536X"},"institutions":[{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Loris Roveda","raw_affiliation_strings":["Institute of Industrial Technologies and Automation (ITIA) of Italian National Research Council (CNR), via Bassini, 15 - 20133 Milan, Italy. E-mails:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Industrial Technologies and Automation (ITIA) of Italian National Research Council (CNR), via Bassini, 15 - 20133 Milan, Italy. E-mails:","institution_ids":["https://openalex.org/I4210155236"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090332923","display_name":"Nicola Pedrocchi","orcid":"https://orcid.org/0000-0002-1610-001X"},"institutions":[{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nicola Pedrocchi","raw_affiliation_strings":["Institute of Industrial Technologies and Automation (ITIA) of Italian National Research Council (CNR), via Bassini, 15 - 20133 Milan, Italy. E-mails:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Industrial Technologies and Automation (ITIA) of Italian National Research Council (CNR), via Bassini, 15 - 20133 Milan, Italy. E-mails:","institution_ids":["https://openalex.org/I4210155236"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070205869","display_name":"Federico Vicentini","orcid":"https://orcid.org/0000-0002-7791-7090"},"institutions":[{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Federico Vicentini","raw_affiliation_strings":["Institute of Industrial Technologies and Automation (ITIA) of Italian National Research Council (CNR), via Bassini, 15 - 20133 Milan, Italy. E-mails:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Industrial Technologies and Automation (ITIA) of Italian National Research Council (CNR), via Bassini, 15 - 20133 Milan, Italy. E-mails:","institution_ids":["https://openalex.org/I4210155236"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009851535","display_name":"Lorenzo Molinari Tosatti","orcid":"https://orcid.org/0000-0002-8541-3546"},"institutions":[{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Molinari Tosatti","raw_affiliation_strings":["Institute of Industrial Technologies and Automation (ITIA) of Italian National Research Council (CNR), via Bassini, 15 - 20133 Milan, Italy. E-mails:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Industrial Technologies and Automation (ITIA) of Italian National Research Council (CNR), via Bassini, 15 - 20133 Milan, Italy. E-mails:","institution_ids":["https://openalex.org/I4210155236"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5086291668"],"corresponding_institution_ids":["https://openalex.org/I4210155236"],"apc_list":null,"apc_paid":null,"fwci":1.0526,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.78556671,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"35","issue":"8","first_page":"1732","last_page":"1746"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9987999796867371,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9987999796867371,"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":0.5941689014434814},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5859466195106506},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.5683619976043701},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5595666766166687},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5328524708747864},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5243937373161316},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5028156638145447},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4960881173610687},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48698291182518005},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.48260462284088135},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4703918695449829},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.46813616156578064},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.45736393332481384},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4250553548336029},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35082507133483887},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28072962164878845},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2528837323188782}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5941689014434814},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5859466195106506},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.5683619976043701},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5595666766166687},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5328524708747864},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5243937373161316},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5028156638145447},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4960881173610687},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48698291182518005},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.48260462284088135},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4703918695449829},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.46813616156578064},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.45736393332481384},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4250553548336029},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35082507133483887},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28072962164878845},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2528837323188782},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574716000461","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574716000461","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:zenodo.org:3454675","is_oa":true,"landing_page_url":"https://zenodo.org/record/3454675","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:3454675","is_oa":true,"landing_page_url":"https://zenodo.org/record/3454675","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.5199999809265137,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W286264046","https://openalex.org/W1539002361","https://openalex.org/W1581808154","https://openalex.org/W1978023077","https://openalex.org/W1990281946","https://openalex.org/W1996426814","https://openalex.org/W1996880893","https://openalex.org/W2016958754","https://openalex.org/W2018742520","https://openalex.org/W2038386942","https://openalex.org/W2042809874","https://openalex.org/W2046010684","https://openalex.org/W2058155398","https://openalex.org/W2088192611","https://openalex.org/W2096634911","https://openalex.org/W2105660272","https://openalex.org/W2106284822","https://openalex.org/W2112474089","https://openalex.org/W2127437759","https://openalex.org/W2128439950","https://openalex.org/W2132321400","https://openalex.org/W2133193265","https://openalex.org/W2139548710","https://openalex.org/W2148806858","https://openalex.org/W2149854669","https://openalex.org/W2150024155","https://openalex.org/W2150367199","https://openalex.org/W2158843638","https://openalex.org/W2165092969","https://openalex.org/W2167093874","https://openalex.org/W2169440744","https://openalex.org/W2297810340","https://openalex.org/W2402376955","https://openalex.org/W2477962979","https://openalex.org/W4236172687","https://openalex.org/W6659992507"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1999333556","https://openalex.org/W2608166581","https://openalex.org/W2912320857","https://openalex.org/W2048558497"],"abstract_inverted_index":{"SUMMARY":[0],"Light-weight":[1],"manipulators":[2],"are":[3,105],"used":[4],"in":[5,84],"industrial":[6,94],"tasks":[7],"mounted":[8],"on":[9],"mobile":[10,96],"platforms":[11],"to":[12],"improve":[13],"flexibility.":[14],"However,":[15],"such":[16,27],"mountings":[17],"introduce":[18],"compliance":[19],"affecting":[20],"the":[21,43,50,53,58,61,66,78],"tasks.":[22],"This":[23],"work":[24],"deals":[25],"with":[26,91,100],"scenarios":[28],"by":[29],"designing":[30],"a":[31,46,92],"controller":[32,41],"that":[33],"also":[34],"takes":[35],"into":[36],"account":[37],"compliant":[38],"environments.":[39],"The":[40,70],"allows":[42],"tracking":[44],"of":[45,52,60],"target":[47],"force":[48],"using":[49],"estimation":[51,59],"environment":[54],"stiffness":[55],"(EKF)":[56],"and":[57,77,101],"base":[62,68,103],"position":[63],"(KF),":[64],"compensating":[65],"robot":[67],"deformation.":[69],"closed-loop":[71],"stability":[72],"has":[73],"been":[74,82],"analyzed.":[75],"Observers":[76],"control":[79],"law":[80],"have":[81],"validated":[83],"experiments.":[85],"An":[86],"assembly":[87],"task":[88],"is":[89],"considered":[90],"standard":[93],"non-actuated":[95],"platform.":[97],"Control":[98],"laws":[99],"without":[102],"compensation":[104],"compared.":[106]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
