{"id":"https://openalex.org/W2585428219","doi":"https://doi.org/10.1108/ir-08-2016-0216","title":"Which impedance strategy is the most effective for cooperative object manipulation?","display_name":"Which impedance strategy is the most effective for cooperative object manipulation?","publication_year":2017,"publication_date":"2017-03-09","ids":{"openalex":"https://openalex.org/W2585428219","doi":"https://doi.org/10.1108/ir-08-2016-0216","mag":"2585428219"},"language":"en","primary_location":{"id":"doi:10.1108/ir-08-2016-0216","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-08-2016-0216","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/A5082205371","display_name":"Payam Zarafshan","orcid":"https://orcid.org/0000-0003-2462-8217"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Payam Zarafshan","raw_affiliation_strings":["Department of Agro-Technology, Abouraihan Collage, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Agro-Technology, Abouraihan Collage, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038884801","display_name":"Reza Larimi","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]},{"id":"https://openalex.org/I4405260628","display_name":"University of British Columbia, Okanagan Campus","ror":"https://ror.org/04241wz75","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490","https://openalex.org/I4405260628"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Reza Larimi","raw_affiliation_strings":["School of Engineering, The University of British Columbia, Kelowna, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, The University of British Columbia, Kelowna, Canada","institution_ids":["https://openalex.org/I141945490","https://openalex.org/I4405260628"]}]},{"author_position":"middle","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":["Center of Excellence in Robotics and Control, Advanced Robotics and Automated Systems Lab, Department of Mechanical Engineering, K.N. Toosi University of Technology, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Excellence in Robotics and Control, Advanced Robotics and Automated Systems Lab, Department of Mechanical Engineering, K.N. Toosi University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090755079","display_name":"Bruno Siciliano","orcid":"https://orcid.org/0000-0002-1037-0588"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Bruno Siciliano","raw_affiliation_strings":["PRISMA Lab, Department of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"PRISMA Lab, Department of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, Italy","institution_ids":["https://openalex.org/I71267560"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.5237,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.96955462,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"44","issue":"2","first_page":"198","last_page":"209"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11701","display_name":"Space Satellite Systems and Control","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.998199999332428,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9980000257492065,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.7958739995956421},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7639656066894531},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6611084342002869},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6117759346961975},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6016886234283447},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5390182733535767},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48905763030052185},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.48247721791267395},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4710122346878052},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4217839241027832},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38368237018585205},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24271395802497864}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.7958739995956421},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7639656066894531},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6611084342002869},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6117759346961975},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6016886234283447},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5390182733535767},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48905763030052185},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48247721791267395},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4710122346878052},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4217839241027832},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38368237018585205},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24271395802497864},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-08-2016-0216","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-08-2016-0216","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":0.7200000286102295,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1486214643","https://openalex.org/W1550062354","https://openalex.org/W1571443838","https://openalex.org/W1967377907","https://openalex.org/W1971809029","https://openalex.org/W1994031680","https://openalex.org/W2013159194","https://openalex.org/W2019711919","https://openalex.org/W2038186386","https://openalex.org/W2041824056","https://openalex.org/W2050805266","https://openalex.org/W2104181254","https://openalex.org/W2104500940","https://openalex.org/W2111630351","https://openalex.org/W2121417827","https://openalex.org/W2123610238","https://openalex.org/W2124397572","https://openalex.org/W2125295512","https://openalex.org/W2127588288","https://openalex.org/W2133428375","https://openalex.org/W2150024155","https://openalex.org/W2155296698","https://openalex.org/W2158654061","https://openalex.org/W2159972489","https://openalex.org/W2205750869","https://openalex.org/W2322971354","https://openalex.org/W2462050512","https://openalex.org/W2626314992","https://openalex.org/W4234456568"],"related_works":["https://openalex.org/W2147346212","https://openalex.org/W2168933883","https://openalex.org/W8302103","https://openalex.org/W2096137237","https://openalex.org/W2737719445","https://openalex.org/W4297201593","https://openalex.org/W4233094028","https://openalex.org/W2121208270","https://openalex.org/W2785665096","https://openalex.org/W2000675896"],"abstract_inverted_index":{"Purpose":[0],"The":[1,60,128,277,334],"purpose":[2],"of":[3,12,25,120,272,279,296,318,369],"this":[4,19,31,297,300],"paper":[5],"is":[6,33,99,109,135,188,211,229,261,267,287,293,305,323,358,364],"to":[7,44,164,325],"present":[8],"a":[9,21,232,264,302,309,338,350,361],"comparison":[10],"study":[11,304],"cooperative":[13,72,258,321,355],"object":[14,46,73,104,159,200,227,247,259,328,356],"manipulation":[15,37,74,160,201,228,260,357],"control":[16,28,66,82,87,190,332],"algorithms.":[17],"To":[18],"end,":[20],"full":[22],"comprehensive":[23],"survey":[24],"the":[26,45,50,77,84,94,97,103,107,113,118,139,143,148,152,158,165,169,173,180,192,196,199,208,214,219,223,238,241,245,273,294,330,370],"existing":[27],"algorithms":[29,123,286],"in":[30,236,307],"field":[32],"presented.":[34],"Design/methodology/approach":[35],"Cooperative":[36],"occurs":[38],"when":[39],"manipulators":[40,51],"are":[41,76,90,124,130],"mechanically":[42],"coupled":[43],"being":[47],"manipulated,":[48],"and":[49,63,83,106,133,244,263,290,341,346,360],"may":[52],"not":[53,212],"be":[54,204,249],"treated":[55],"as":[56,162,343],"an":[57,70,327],"isolated":[58],"system.":[59],"most":[61],"important":[62],"basic":[64],"impedance":[65,86],"(IC)":[67],"strategies":[68],"for":[69,168,231,257,269,354,366],"assumed":[71],"task":[75,202],"Augmented":[78],"Object":[79],"Model":[80],"(AOM)":[81],"multiple":[85],"(MIC)":[88],"which":[89,237,292,308,314],"found":[91],"based":[92,101,111],"on":[93,102,112,191],"IC,":[95],"where":[96],"former":[98],"designed":[100,110,268,365],"movement,":[105],"latter":[108],"whole":[114],"robot":[115,193,215,239],"movement.":[116],"Thus,":[117],"basis":[119,278],"these":[121,280,284],"two":[122,274,281,285,316,371],"fully":[125,131,288],"studied.":[126],"Findings":[127],"results":[129,149],"analyzed,":[132],"it":[134],"practically":[136],"verified":[137],"that":[138,151,185],"MIC":[140,153,174,224],"algorithm":[141],"has":[142],"better":[144,177],"performance.":[145],"In":[146],"fact,":[147],"reveal":[150],"system":[154,235,335],"could":[155],"successfully":[156],"perform":[157],"task,":[161],"opposed":[163],"AOM":[166,181,197],"controller:":[167],"same":[170],"controller":[171],"gains,":[172],"strategy":[175],"showed":[176],"performance":[178],"than":[179],"strategy.":[182],"This":[183],"means":[184],"because":[186],"there":[187],"no":[189],"base":[194],"with":[195,222],"algorithm,":[198,225],"cannot":[203],"satisfactorily":[205],"performed":[206],"whenever":[207],"desired":[209],"path":[210],"within":[213],"work":[216],"space.":[217],"On":[218],"other":[220],"hand,":[221],"satisfactory":[226],"achieved":[230],"mobile":[233],"robotic":[234,312],"base,":[240],"manipulator":[242],"endpoints":[243],"manipulated":[246],"shall":[248],"moved.":[250],"Practical":[251],"implications":[252],"A":[253],"simple":[254,351],"conceptual":[255,352],"model":[256,353],"considered,":[262,306,359],"suitable":[265,362],"setup":[266,363],"practical":[270,367],"implementation":[271,368],"ICs.":[275,372],"Originality/value":[276],"aspects":[282],"or":[283],"studied":[289],"compared":[291],"foundation":[295],"paper.":[298],"For":[299],"purpose,":[301],"case":[303],"space":[310],"free-flying":[311],"system,":[313],"contains":[315],"2-degrees":[317],"freedom":[319],"planar":[320],"manipulators,":[322],"simulated":[324],"manipulate":[326],"using":[329],"above":[331],"strategies.":[333],"also":[336],"includes":[337],"rotating":[339],"antenna":[340],"camera":[342],"its":[344],"third":[345],"fourth":[347],"arm.":[348],"Finally,":[349]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}