{"id":"https://openalex.org/W1971809029","doi":"https://doi.org/10.1108/01439910810909556","title":"Cooperation of robotic manipulators using non\u2010model\u2010based multiple impedance control","display_name":"Cooperation of robotic manipulators using non\u2010model\u2010based multiple impedance control","publication_year":2008,"publication_date":"2008-10-17","ids":{"openalex":"https://openalex.org/W1971809029","doi":"https://doi.org/10.1108/01439910810909556","mag":"1971809029"},"language":"en","primary_location":{"id":"doi:10.1108/01439910810909556","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439910810909556","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","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/A5009324734","display_name":"S. Ali A. Moosavian","orcid":"https://orcid.org/0000-0002-9117-7615"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"S. Ali A. Moosavian","raw_affiliation_strings":["Department of Mechanical Engineering, Advanced Robotics and Automated Systems (ARAS) Laboratory, K.N. Toosi University of Technology, Tehran, Iran","(Department of Mechanical Engineering, Advanced Robotics and Automated Systems (ARAS) Laboratory, K.N. Toosi University of Technology, Tehran, Iran)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Advanced Robotics and Automated Systems (ARAS) Laboratory, K.N. Toosi University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]},{"raw_affiliation_string":"(Department of Mechanical Engineering, Advanced Robotics and Automated Systems (ARAS) Laboratory, K.N. Toosi University of Technology, Tehran, Iran)","institution_ids":["https://openalex.org/I80543232"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069602559","display_name":"Hadi R. Ashtiani","orcid":null},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Hadi R. Ashtiani","raw_affiliation_strings":["Department of Mechanical Engineering, Advanced Robotics and Automated Systems (ARAS) Laboratory, K.N. Toosi University of Technology, Tehran, Iran","(Department of Mechanical Engineering, Advanced Robotics and Automated Systems (ARAS) Laboratory, K.N. Toosi University of Technology, Tehran, Iran)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Advanced Robotics and Automated Systems (ARAS) Laboratory, K.N. Toosi University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]},{"raw_affiliation_string":"(Department of Mechanical Engineering, Advanced Robotics and Automated Systems (ARAS) Laboratory, K.N. Toosi University of Technology, Tehran, Iran)","institution_ids":["https://openalex.org/I80543232"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I80543232"],"apc_list":null,"apc_paid":null,"fwci":3.3127,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.91828517,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"35","issue":"6","first_page":"549","last_page":"558"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9970999956130981,"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":0.9940999746322632,"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/flexibility","display_name":"Flexibility (engineering)","score":0.6362082958221436},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4820078909397125},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.44685062766075134},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.4430367350578308},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3533414900302887},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3520875573158264},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3421434164047241},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3199186623096466},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3181091547012329},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30514782667160034},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.12086376547813416},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09588953852653503}],"concepts":[{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6362082958221436},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4820078909397125},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.44685062766075134},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.4430367350578308},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3533414900302887},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3520875573158264},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3421434164047241},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3199186623096466},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3181091547012329},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30514782667160034},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.12086376547813416},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09588953852653503},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/01439910810909556","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439910810909556","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5899999737739563,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1486214643","https://openalex.org/W1547000697","https://openalex.org/W1551497311","https://openalex.org/W1914581921","https://openalex.org/W1925046245","https://openalex.org/W1964211150","https://openalex.org/W1967377907","https://openalex.org/W1972941263","https://openalex.org/W1999200439","https://openalex.org/W2013159194","https://openalex.org/W2015408840","https://openalex.org/W2016958754","https://openalex.org/W2074160972","https://openalex.org/W2092972148","https://openalex.org/W2108928063","https://openalex.org/W2112474089","https://openalex.org/W2130351752","https://openalex.org/W2131313563","https://openalex.org/W2141222604","https://openalex.org/W2142163623","https://openalex.org/W2144173799","https://openalex.org/W2146671673","https://openalex.org/W2147346212","https://openalex.org/W2153921271","https://openalex.org/W2155296698","https://openalex.org/W2158136558","https://openalex.org/W2160763342","https://openalex.org/W2162797581","https://openalex.org/W2163967346","https://openalex.org/W2165521556","https://openalex.org/W2538373590","https://openalex.org/W2538427764","https://openalex.org/W4230260804","https://openalex.org/W6640082068","https://openalex.org/W6654846027","https://openalex.org/W6680234448","https://openalex.org/W6684001721"],"related_works":["https://openalex.org/W4236696095","https://openalex.org/W3143779693","https://openalex.org/W2626808643","https://openalex.org/W2004064826","https://openalex.org/W3103727510","https://openalex.org/W97045569","https://openalex.org/W4231775656","https://openalex.org/W1527069879","https://openalex.org/W2946179579","https://openalex.org/W2046435967"],"abstract_inverted_index":{"Purpose":[0],"The":[1,30,171,196,245],"aim":[2],"of":[3,136,182,207,224,264],"this":[4,54,69],"paper":[5],"is":[6,35,59,73,88,121,249],"to":[7,61,185,210],"present":[8],"the":[9,49,56,92,100,107,111,117,147,155,162,166,180,205,222],"non\u2010model\u2010based":[10,229],"multiple":[11,31],"impedance":[12,32,43,114,169],"control":[13,33],"(NMIC)":[14],"law":[15,58,72,102,120,157,226,248],"for":[16,80,231],"object":[17,51,109,125,164,232,253],"manipulation":[18,126,233,254],"tasks,":[19,234],"which":[20,235],"can":[21,236],"be":[22,62,237],"implemented":[23,63,238],"with":[24,128,140,187,212,239,256,268],"reasonable":[25,240],"limited":[26,241],"on\u2010line":[27,242],"computations.":[28,243],"Design/methodology/approach":[29],"(MIC)":[34],"a":[36,41,74,141,228,269],"model\u2010based":[37],"algorithm":[38,79,230],"that":[39,98,153],"enforces":[40],"designated":[42,113,168],"on":[44,123,251],"all":[45,103,158],"cooperating":[46,83,130,258],"manipulators,":[47,105,160],"and":[48,76,86,106,161,190,215],"manipulated":[50,108,163],"itself.":[52],"In":[53],"paper,":[55],"MIC":[57,71],"modified":[60,70],"without":[64],"using":[65],"system":[66,192,217],"dynamics.":[67],"Therefore,":[68],"quick":[75],"more":[77],"realistic":[78],"implementation":[81],"in":[82,179,204],"robotic":[84],"systems,":[85],"so":[87],"called":[89],"NMIC.":[90],"Developing":[91,146],"NMIC":[93,101,119,148,156,225,247],"law,":[94,149],"error":[95,150],"analysis":[96,151],"shows":[97,152],"under":[99,154],"participating":[104,159],"exhibit":[110,165],"same":[112,167],"behavior.":[115,170],"Next,":[116],"proposed":[118,246],"applied":[122,250],"an":[124,188,213,252],"task":[127,255],"three":[129,257],"PUMA":[131,259],"560":[132,260],"manipulators":[133,261],"while":[134,262],"two":[135,263],"them":[137,265],"are":[138,266],"equipped":[139,267],"remote":[142,270],"compliant":[143,271],"centre.":[144,272],"Findings":[145],"obtained":[172,197],"results":[173,198,220],"show":[174,199],"good":[175,200],"tracking":[176,201],"performance":[177,202],"even":[178,203],"presence":[181,206],"impacts":[183,208],"due":[184,209],"contact":[186,211],"obstacle,":[189,214],"also":[191,216],"flexibility.":[193,218],"Practical":[194],"implications":[195],"These":[219],"reveal":[221],"merits":[223],"as":[227],"Originality/value":[244]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"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":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
