{"id":"https://openalex.org/W2611677267","doi":"https://doi.org/10.1017/s0263574717000200","title":"Robust adaptive control of door opening by a mobile rescue manipulator based on unknown-force-related constraints estimation","display_name":"Robust adaptive control of door opening by a mobile rescue manipulator based on unknown-force-related constraints estimation","publication_year":2017,"publication_date":"2017-05-03","ids":{"openalex":"https://openalex.org/W2611677267","doi":"https://doi.org/10.1017/s0263574717000200","mag":"2611677267"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574717000200","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574717000200","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012020883","display_name":"Liang Ding","orcid":"https://orcid.org/0000-0002-8351-5178"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Ding","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, P. R. China. E-mails:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, P. R. China. E-mails:","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036012838","display_name":"Kerui Xia","orcid":"https://orcid.org/0000-0001-9199-7309"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Kerui Xia","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, P. R. China. E-mails:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, P. R. China. E-mails:","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033616367","display_name":"Haibo Gao","orcid":"https://orcid.org/0000-0002-6501-656X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haibo Gao","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, P. R. China. E-mails:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, P. R. China. E-mails:","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044198396","display_name":"Guangjun Liu","orcid":"https://orcid.org/0000-0002-3301-1166"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Guangjun Liu","raw_affiliation_strings":["Department of Aerospace Engineering, Ryerson University, Toronto, Ontario, M5B 2K3, Canada. E-mail:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Ryerson University, Toronto, Ontario, M5B 2K3, Canada. E-mail:","institution_ids":["https://openalex.org/I530967"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100617483","display_name":"Zongquan Deng","orcid":"https://orcid.org/0000-0003-2432-8329"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongquan Deng","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, P. R. China. E-mails:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, P. R. China. E-mails:","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5036012838"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":1.9741,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.8467446,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"36","issue":"1","first_page":"119","last_page":"140"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9977999925613403,"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/mobile-manipulator","display_name":"Mobile manipulator","score":0.7768347859382629},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5806925296783447},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5731623768806458},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5503458976745605},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5104088187217712},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4681451916694641},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4656197726726532},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4262782335281372},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4185260832309723},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.392295241355896},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39048606157302856},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3725576102733612},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2956327199935913},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22408664226531982},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1796778440475464}],"concepts":[{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.7768347859382629},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5806925296783447},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5731623768806458},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5503458976745605},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5104088187217712},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4681451916694641},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4656197726726532},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4262782335281372},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4185260832309723},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.392295241355896},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39048606157302856},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3725576102733612},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2956327199935913},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22408664226531982},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1796778440475464},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574717000200","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574717000200","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1523835783","https://openalex.org/W1614686989","https://openalex.org/W1881357295","https://openalex.org/W1992653875","https://openalex.org/W2008719508","https://openalex.org/W2022813413","https://openalex.org/W2030913535","https://openalex.org/W2064796299","https://openalex.org/W2085133845","https://openalex.org/W2085365955","https://openalex.org/W2096828184","https://openalex.org/W2098122036","https://openalex.org/W2108931365","https://openalex.org/W2111946481","https://openalex.org/W2115611753","https://openalex.org/W2117395059","https://openalex.org/W2120251180","https://openalex.org/W2127100033","https://openalex.org/W2132005662","https://openalex.org/W2136952170","https://openalex.org/W2142280335","https://openalex.org/W2156963109","https://openalex.org/W2162434188","https://openalex.org/W2524274697","https://openalex.org/W2525749106","https://openalex.org/W2545892865","https://openalex.org/W2551194921","https://openalex.org/W2601879389","https://openalex.org/W6636018485","https://openalex.org/W6662971569","https://openalex.org/W6674777234","https://openalex.org/W6680725432"],"related_works":["https://openalex.org/W4234825356","https://openalex.org/W2695075568","https://openalex.org/W4361186078","https://openalex.org/W2331363374","https://openalex.org/W2157702526","https://openalex.org/W2329712830","https://openalex.org/W577644862","https://openalex.org/W2373585563","https://openalex.org/W1639816509","https://openalex.org/W2615583162"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"study":[2],"focuses":[3],"on":[4],"a":[5,79,83,87],"door-opening":[6],"mobile":[7,37,80],"manipulator":[8,58,81],"operating":[9],"in":[10],"four":[11],"phases":[12],"(reaching":[13],"the":[14,17,21,26,36,45,53,71,76,95,98],"door,":[15],"grasping":[16],"door":[18,22,85],"handle,":[19,23],"turning":[20],"and":[24,90],"pulling":[25],"door).":[27],"We":[28],"use":[29],"force/torque":[30],"feedback-based":[31],"control,":[32],"achieving":[33],"compliance":[34],"of":[35,97],"base":[38],"when":[39],"it":[40],"comes":[41],"into":[42],"contact":[43],"with":[44,86],"handle.":[46],"A":[47,62],"method":[48],"is":[49,67],"proposed":[50,99],"for":[51,69],"estimating":[52],"unknown":[54,91],"force-related":[55,92],"constraints":[56],"from":[57],"joint":[59],"position":[60],"measurements.":[61],"robust":[63],"adaptive":[64],"control":[65],"strategy":[66],"developed":[68],"tracking":[70],"planned":[72],"trajectory":[73],"to":[74],"open":[75],"door.":[77],"Finally,":[78],"opens":[82],"real":[84],"locked":[88],"latch":[89],"constraints,":[93],"demonstrating":[94],"validity":[96],"approach.":[100]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":5},{"year":2016,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}