{"id":"https://openalex.org/W2162672874","doi":"https://doi.org/10.1109/acc.2007.4282718","title":"Convergence Analysis of Bilateral Teleoperation with Constant Human Input","display_name":"Convergence Analysis of Bilateral Teleoperation with Constant Human Input","publication_year":2007,"publication_date":"2007-07-01","ids":{"openalex":"https://openalex.org/W2162672874","doi":"https://doi.org/10.1109/acc.2007.4282718","mag":"2162672874"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2007.4282718","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2007.4282718","pdf_url":null,"source":{"id":"https://openalex.org/S4210168941","display_name":"Proceedings of the ... American Control Conference/Proceedings of the American Control Conference","issn_l":"0743-1619","issn":["0743-1619","2378-5861"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 American Control Conference","raw_type":"proceedings-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/A5004002307","display_name":"Rogelio Lozano","orcid":"https://orcid.org/0000-0002-5730-6313"},"institutions":[{"id":"https://openalex.org/I102516824","display_name":"Universit\u00e9 de Technologie de Compi\u00e8gne","ror":"https://ror.org/04y5kwa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I102516824"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Rogelio Lozano","raw_affiliation_strings":["Universit\u00e9 de Technologie de Compi\u00e8gne, Heudiasyc, URA CNRS 817, Compi\u00e8gne, France"],"affiliations":[{"raw_affiliation_string":"Universit\u00e9 de Technologie de Compi\u00e8gne, Heudiasyc, URA CNRS 817, Compi\u00e8gne, France","institution_ids":["https://openalex.org/I102516824","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033439822","display_name":"Nikhil Chopra","orcid":"https://orcid.org/0000-0002-5365-293X"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nikhil Chopra","raw_affiliation_strings":["Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL, USA"],"affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079586632","display_name":"Mark W. Spong","orcid":"https://orcid.org/0000-0003-4626-2295"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark W. Spong","raw_affiliation_strings":["Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL, USA"],"affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5004002307"],"corresponding_institution_ids":["https://openalex.org/I102516824","https://openalex.org/I1294671590"],"apc_list":null,"apc_paid":null,"fwci":5.9843,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.95720109,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1443","last_page":"1448"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9463000297546387,"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/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9247999787330627,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.9006982445716858},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7340355515480042},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6998114585876465},{"id":"https://openalex.org/keywords/master/slave","display_name":"Master/slave","score":0.6402976512908936},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6085388660430908},{"id":"https://openalex.org/keywords/stability-theory","display_name":"Stability theory","score":0.5670585632324219},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.5418788194656372},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5066388249397278},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.4956587553024292},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4883210361003876},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.4694977104663849},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4453062117099762},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4136638045310974},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35194507241249084},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3402383327484131},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28088635206222534},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22015687823295593},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21261096000671387},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1187397837638855},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10545352101325989}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9006982445716858},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7340355515480042},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6998114585876465},{"id":"https://openalex.org/C20454292","wikidata":"https://www.wikidata.org/wiki/Q735523","display_name":"Master/slave","level":2,"score":0.6402976512908936},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6085388660430908},{"id":"https://openalex.org/C41949839","wikidata":"https://www.wikidata.org/wiki/Q1756677","display_name":"Stability theory","level":3,"score":0.5670585632324219},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.5418788194656372},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5066388249397278},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.4956587553024292},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4883210361003876},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.4694977104663849},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4453062117099762},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4136638045310974},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35194507241249084},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3402383327484131},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28088635206222534},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22015687823295593},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21261096000671387},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1187397837638855},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10545352101325989},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2007.4282718","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2007.4282718","pdf_url":null,"source":{"id":"https://openalex.org/S4210168941","display_name":"Proceedings of the ... American Control Conference/Proceedings of the American Control Conference","issn_l":"0743-1619","issn":["0743-1619","2378-5861"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W99253999","https://openalex.org/W106391945","https://openalex.org/W1509235676","https://openalex.org/W1906544075","https://openalex.org/W1967390389","https://openalex.org/W1995349561","https://openalex.org/W2028720893","https://openalex.org/W2063324852","https://openalex.org/W2097204134","https://openalex.org/W2108052496","https://openalex.org/W2109609092","https://openalex.org/W2112830075","https://openalex.org/W2118166401","https://openalex.org/W2122895826","https://openalex.org/W2124237013","https://openalex.org/W2126552455","https://openalex.org/W2134372665","https://openalex.org/W2135464393","https://openalex.org/W2153631465","https://openalex.org/W2155405623","https://openalex.org/W2157481644","https://openalex.org/W2163976721","https://openalex.org/W2169488905","https://openalex.org/W2171649388","https://openalex.org/W2333007379","https://openalex.org/W2531130876","https://openalex.org/W2561111412","https://openalex.org/W2728576694","https://openalex.org/W4285719527","https://openalex.org/W6604367664","https://openalex.org/W6630702416","https://openalex.org/W6684240114","https://openalex.org/W6741130802"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W817518365","https://openalex.org/W2097059456","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652","https://openalex.org/W2022619197","https://openalex.org/W2145960295","https://openalex.org/W157833000","https://openalex.org/W2101849315"],"abstract_inverted_index":{"In":[0,58,104],"this":[1],"paper":[2],"the":[3,25,32,40,44,49,59,64,70,74,86,92,97,105,115,122,128,131,146],"problem":[4],"of":[5,13,96,107,114],"bilateral":[6],"teleoperation":[7,77],"is":[8,29,52,79,89,102],"studied":[9],"for":[10,111],"a":[11,36,55,112,136],"class":[12],"human":[14,33],"operator":[15,34],"models":[16],"that":[17,121],"are":[18,67,141],"not":[19],"guaranteed":[20],"to":[21,81,127,135,144],"be":[22,82],"passive.":[23],"Specifically,":[24],"hard":[26],"contact":[27],"scenario":[28],"addressed":[30],"where":[31],"applies":[35],"constant":[37],"force":[38],"on":[39],"master":[41,98],"robot":[42,46],"and":[43,99,110,130],"slave":[45,100],"interacts":[47],"with":[48],"environment,":[50],"which":[51],"modeled":[53],"as":[54],"spring-damper":[56],"system.":[57],"delay":[60,109],"free":[61],"case,":[62],"when":[63],"master/slave":[65,123],"robots":[66,101],"coupled":[68],"using":[69],"PD":[71],"control":[72],"strategy,":[73],"nonlinear":[75],"master-slave":[76],"system":[78],"shown":[80],"asymptotically":[83,125,133],"stable.":[84],"If":[85],"environment":[87],"stiffness":[88],"known,":[90],"then":[91],"steady":[93],"state":[94],"position":[95],"predicted.":[103],"case":[106],"network":[108],"range":[113],"proportional":[116],"coupling":[117],"gains,":[118],"we":[119],"demonstrate":[120],"velocities":[124],"converge":[126,134],"origin":[129],"positions":[132],"non-zero":[137],"equilibrium.":[138],"Simulations":[139],"results":[140],"also":[142],"presented":[143],"verify":[145],"proposed":[147],"results.":[148]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
