{"id":"https://openalex.org/W4389199488","doi":"https://doi.org/10.1017/s0263574723001601","title":"Hybrid impedance and admittance control for optimal robot\u2013environment interaction","display_name":"Hybrid impedance and admittance control for optimal robot\u2013environment interaction","publication_year":2023,"publication_date":"2023-11-30","ids":{"openalex":"https://openalex.org/W4389199488","doi":"https://doi.org/10.1017/s0263574723001601"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574723001601","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574723001601","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/A5018238053","display_name":"Dexi Ye","orcid":"https://orcid.org/0000-0002-0509-0696"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dexi Ye","raw_affiliation_strings":["Key Laboratory of Autonomous Systems and Networked Control, School of Automation Science and Engineering, South China University of Technology, Guangzhou, 510640, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Autonomous Systems and Networked Control, School of Automation Science and Engineering, South China University of Technology, Guangzhou, 510640, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["Key Laboratory of Autonomous Systems and Networked Control, School of Automation Science and Engineering, South China University of Technology, Guangzhou, 510640, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Autonomous Systems and Networked Control, School of Automation Science and Engineering, South China University of Technology, Guangzhou, 510640, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067854210","display_name":"Yiming Jiang","orcid":"https://orcid.org/0000-0001-5963-2932"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiming Jiang","raw_affiliation_strings":["School of Robotics and the Visual Perception and Control Technology National Engineering Laboratory, Hunan University, Changsha, 410082, China"],"affiliations":[{"raw_affiliation_string":"School of Robotics and the Visual Perception and Control Technology National Engineering Laboratory, Hunan University, Changsha, 410082, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100685577","display_name":"Hui Zhang","orcid":"https://orcid.org/0000-0002-1370-1848"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Zhang","raw_affiliation_strings":["School of Robotics and the Visual Perception and Control Technology National Engineering Laboratory, Hunan University, Changsha, 410082, China"],"affiliations":[{"raw_affiliation_string":"School of Robotics and the Visual Perception and Control Technology National Engineering Laboratory, Hunan University, Changsha, 410082, China","institution_ids":["https://openalex.org/I16609230"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5019906827"],"corresponding_institution_ids":["https://openalex.org/I90610280"],"apc_list":null,"apc_paid":null,"fwci":4.2138,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.94833054,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"42","issue":"2","first_page":"510","last_page":"535"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9995999932289124,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9988999962806702,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9965999722480774,"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/admittance","display_name":"Admittance","score":0.7937455773353577},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.7609774470329285},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7583834528923035},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.6619552969932556},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6015235781669617},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5760960578918457},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5718501806259155},{"id":"https://openalex.org/keywords/duty-cycle","display_name":"Duty cycle","score":0.493475079536438},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.490949422121048},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46945899724960327},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36270177364349365},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2739018201828003},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.09385326504707336},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08705085515975952}],"concepts":[{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.7937455773353577},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.7609774470329285},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7583834528923035},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.6619552969932556},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6015235781669617},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5760960578918457},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5718501806259155},{"id":"https://openalex.org/C199822604","wikidata":"https://www.wikidata.org/wiki/Q557120","display_name":"Duty cycle","level":3,"score":0.493475079536438},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.490949422121048},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46945899724960327},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36270177364349365},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2739018201828003},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.09385326504707336},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08705085515975952},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574723001601","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574723001601","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":[{"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1517060199","https://openalex.org/W1974357213","https://openalex.org/W1978023077","https://openalex.org/W2016958754","https://openalex.org/W2033167899","https://openalex.org/W2050838777","https://openalex.org/W2081814343","https://openalex.org/W2093945540","https://openalex.org/W2144294016","https://openalex.org/W2148439597","https://openalex.org/W2162207896","https://openalex.org/W2163274885","https://openalex.org/W2484646121","https://openalex.org/W2767304633","https://openalex.org/W2795974647","https://openalex.org/W2912698479","https://openalex.org/W3031520393","https://openalex.org/W3036168343","https://openalex.org/W3050117361","https://openalex.org/W3097917108","https://openalex.org/W3133988555","https://openalex.org/W3187113103","https://openalex.org/W3193248422","https://openalex.org/W3215459290","https://openalex.org/W4206508375","https://openalex.org/W4225763870","https://openalex.org/W4286500845","https://openalex.org/W4287385010","https://openalex.org/W4287511916","https://openalex.org/W4291006859","https://openalex.org/W4295916778","https://openalex.org/W4309923758","https://openalex.org/W4313421420","https://openalex.org/W4315490076","https://openalex.org/W6800259387","https://openalex.org/W6848402387"],"related_works":["https://openalex.org/W2162207896","https://openalex.org/W4313421420","https://openalex.org/W1548357495","https://openalex.org/W2365529104","https://openalex.org/W2133851415","https://openalex.org/W2319640990","https://openalex.org/W2314048082","https://openalex.org/W2976589093","https://openalex.org/W1968487248","https://openalex.org/W4248671285"],"abstract_inverted_index":{"Abstract":[0],"Compliant":[1],"interaction":[2,19,58,177],"between":[3,123],"robots":[4,40],"and":[5,16,34,65,80,86,128,136,178,187,203],"the":[6,43,49,56,61,109,124,144,154,160,165,175,194],"environment":[7,63,111],"is":[8,75,112,148],"crucial":[9],"for":[10,39,108,164],"completing":[11],"contact-rich":[12],"tasks.":[13],"However,":[14],"obtaining":[15],"implementing":[17],"optimal":[18,57,145,155,161],"behavior":[20,59],"in":[21,88,91],"complex":[22],"unknown":[23,45],"environments":[24],"remains":[25],"a":[26,31,92,103,116,133,151,200,204],"challenge.":[27],"This":[28],"article":[29],"develops":[30],"hybrid":[32,104],"impedance":[33,52,69,78,127,167,179],"admittance":[35,81,129],"control":[36,79,82],"(HIAC)":[37],"scheme":[38,172,198],"subjected":[41],"to":[42,99,114,158,192],"second-order":[44,50,110],"environment.":[46],"To":[47],"obtain":[48],"target":[51,166],"model":[53],"that":[54],"represents":[55],"without":[60],"accurate":[62],"dynamics":[64],"acceleration":[66],"feedback,":[67],"an":[68],"adaptation":[70],"method":[71],"with":[72,199],"virtual":[73],"inertia":[74],"proposed.":[76],"Since":[77],"have":[83],"complementary":[84],"structures":[85],"result":[87],"unsatisfactory":[89],"performance":[90,163,181],"wide":[93],"range":[94],"of":[95,118,126,153,196],"environmental":[96],"stiffness":[97],"due":[98],"their":[100],"fixed":[101],"causality,":[102],"system":[105,184],"framework":[106],"suitable":[107],"proposed":[113,170],"generate":[115],"series":[117],"intermediate":[119,146],"controllers":[120],"which":[121],"interpolate":[122],"responses":[125],"controls":[130],"by":[131],"using":[132,150],"switching":[134,139],"controller":[135,147],"adjusting":[137],"its":[138],"duty":[140,156],"cycle.":[141],"In":[142],"addition,":[143],"selected":[149],"mapping":[152],"cycle":[157],"provide":[159],"implementation":[162,180],"model.":[168],"The":[169],"HIAC":[171],"can":[173],"achieve":[174],"desired":[176],"while":[182],"ensuring":[183],"stability.":[185],"Simulation":[186],"experimental":[188],"studies":[189],"are":[190],"performed":[191],"verify":[193],"effectiveness":[195],"our":[197],"2-DOF":[201],"manipulator":[202],"7-DOF":[205],"Franka":[206],"EMIKA":[207],"panda":[208],"robot,":[209],"respectively.":[210]},"counts_by_year":[{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":8}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
