{"id":"https://openalex.org/W2905438335","doi":"https://doi.org/10.1108/ir-06-2018-0130","title":"Impedance control of collaborative robots based on joint torque servo with active disturbance rejection","display_name":"Impedance control of collaborative robots based on joint torque servo with active disturbance rejection","publication_year":2018,"publication_date":"2018-12-07","ids":{"openalex":"https://openalex.org/W2905438335","doi":"https://doi.org/10.1108/ir-06-2018-0130","mag":"2905438335"},"language":"en","primary_location":{"id":"doi:10.1108/ir-06-2018-0130","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-06-2018-0130","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: the international journal of robotics research and application","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/A5070212925","display_name":"Tianyu Ren","orcid":"https://orcid.org/0009-0008-1691-5690"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tianyu Ren","raw_affiliation_strings":["Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043895828","display_name":"Yunfei Dong","orcid":"https://orcid.org/0000-0001-9904-6698"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunfei Dong","raw_affiliation_strings":["Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061911091","display_name":"Dan Wu","orcid":"https://orcid.org/0000-0002-3856-1087"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dan Wu","raw_affiliation_strings":["Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100420339","display_name":"Ken Chen","orcid":"https://orcid.org/0000-0002-4926-1549"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ken Chen","raw_affiliation_strings":["Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5070212925"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":1.2875,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.81976942,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"46","issue":"4","first_page":"518","last_page":"528"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9987999796867371,"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":0.9987999796867371,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9937999844551086,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9902999997138977,"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/control-theory","display_name":"Control theory (sociology)","score":0.7606685161590576},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6599393486976624},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.600788950920105},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5948323607444763},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5451343655586243},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5391929149627686},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5006482601165771},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.48377725481987},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4580482840538025},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3818971812725067},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13610056042671204},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12713176012039185}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7606685161590576},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6599393486976624},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.600788950920105},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5948323607444763},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5451343655586243},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5391929149627686},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5006482601165771},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.48377725481987},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4580482840538025},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3818971812725067},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13610056042671204},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12713176012039185},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-06-2018-0130","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-06-2018-0130","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: the international journal of robotics research and application","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":49,"referenced_works":["https://openalex.org/W1516127453","https://openalex.org/W1554436968","https://openalex.org/W1583020989","https://openalex.org/W1845191822","https://openalex.org/W1971609423","https://openalex.org/W1978023077","https://openalex.org/W1987219198","https://openalex.org/W1992616600","https://openalex.org/W1995090200","https://openalex.org/W1996374338","https://openalex.org/W2022197757","https://openalex.org/W2046315383","https://openalex.org/W2056156187","https://openalex.org/W2074633497","https://openalex.org/W2084869663","https://openalex.org/W2086937329","https://openalex.org/W2087050671","https://openalex.org/W2092963446","https://openalex.org/W2096185712","https://openalex.org/W2097446805","https://openalex.org/W2097696157","https://openalex.org/W2098685757","https://openalex.org/W2101630027","https://openalex.org/W2103229768","https://openalex.org/W2105660272","https://openalex.org/W2105984753","https://openalex.org/W2109773723","https://openalex.org/W2116767351","https://openalex.org/W2123035336","https://openalex.org/W2124742444","https://openalex.org/W2126969814","https://openalex.org/W2135493101","https://openalex.org/W2136486931","https://openalex.org/W2137983719","https://openalex.org/W2140487974","https://openalex.org/W2143829770","https://openalex.org/W2144355672","https://openalex.org/W2147276700","https://openalex.org/W2150024155","https://openalex.org/W2166653309","https://openalex.org/W2167832378","https://openalex.org/W2278975409","https://openalex.org/W2333357315","https://openalex.org/W2425714617","https://openalex.org/W2520016864","https://openalex.org/W2568885407","https://openalex.org/W2783035285","https://openalex.org/W2887145159","https://openalex.org/W4250904644"],"related_works":["https://openalex.org/W2490690736","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2080330449","https://openalex.org/W2007221537","https://openalex.org/W2169474978","https://openalex.org/W785766289","https://openalex.org/W2011222276","https://openalex.org/W2121208270","https://openalex.org/W2785665096"],"abstract_inverted_index":{"Purpose":[0],"The":[1,113,191],"purpose":[2],"of":[3,23,59,194,201,244],"this":[4,37,77],"paper":[5],"is":[6,48,117,126,144,198],"to":[7,50,69,120,146,187,210,238],"present":[8],"a":[9,39,60,131,202,233],"simple":[10],"yet":[11],"effective":[12],"force":[13,72,140,205],"control":[14,82,115],"scheme":[15],"for":[16,222],"collaborative":[17],"robots":[18],"by":[19,172],"addressing":[20],"the":[21,52,56,65,74,80,95,110,137,142,163,179,184,195,199,208,240,245],"problem":[22],"disturbance":[24],"rejection":[25],"in":[26,89,93,128,150],"joint":[27,40,53,97],"torque:":[28],"inherent":[29],"actuator":[30],"flexibility":[31],"and":[32,63,91,108,123,153,218,225,229,242],"nonlinear":[33],"friction.":[34,67],"Design/methodology/approach":[35],"In":[36,169],"paper,":[38],"torque":[41,98,212],"controller":[42,78,99,206],"with":[43,100,130,207],"an":[44,101],"extended":[45,102],"state":[46,103],"observer":[47,104],"used":[49],"decouple":[51],"actuators":[54],"from":[55,214,232],"multi-rigid-body":[57],"system":[58],"constrained":[61,224],"robot":[62,71,132,139,143,185,204,235],"compensate":[64,109],"motor":[66,219],"Moreover,":[68],"realize":[70],"control,":[73],"authors":[75],"embed":[76],"into":[79],"impedance":[81],"framework.":[83],"Findings":[84],"Results":[85],"have":[86],"been":[87],"given":[88,237],"simulations":[90],"experiments":[92,129],"which":[94,182],"proposed":[96,138,180,246],"can":[105,174],"effectively":[106],"estimate":[107],"total":[111],"disturbance.":[112],"overall":[114],"framework":[116],"analytically":[118],"proved":[119],"be":[121,175],"stable,":[122],"further":[124],"it":[125],"validated":[127],"testbed.":[133],"Practical":[134],"implications":[135],"With":[136],"controller,":[141],"able":[145],"change":[147],"its":[148],"stiffness":[149],"real":[151],"time":[152],"therefore":[154],"take":[155],"variable":[156],"tasks":[157],"without":[158],"any":[159],"accessories,":[160],"such":[161],"as":[162],"RCC":[164],"or":[165],"6-DOF":[166],"F/T":[167],"sensor.":[168],"addition,":[170],"programing":[171],"demonstration":[173],"realized":[176],"easily":[177],"within":[178],"framework,":[181],"makes":[183],"accessible":[186],"unprofessional":[188],"users.":[189],"Originality/value":[190],"main":[192],"contribution":[193],"presented":[196],"work":[197],"design":[200],"model-free":[203],"ability":[209],"reject":[211],"disturbances":[213],"robot-actuator":[215],"coupling":[216],"effect":[217],"friction,":[220],"applicable":[221],"both":[223],"unconstrained":[226],"environments.":[227],"Simulation":[228],"experiment":[230],"results":[231],"7-DOF":[234],"are":[236],"show":[239],"effectiveness":[241],"robustness":[243],"controller.":[247]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}