{"id":"https://openalex.org/W2102241908","doi":"https://doi.org/10.1109/acc.2009.5159961","title":"Adaptive control of a robotic system undergoing a non-contact to contact transition with a viscoelastic environment","display_name":"Adaptive control of a robotic system undergoing a non-contact to contact transition with a viscoelastic environment","publication_year":2009,"publication_date":"2009-01-01","ids":{"openalex":"https://openalex.org/W2102241908","doi":"https://doi.org/10.1109/acc.2009.5159961","mag":"2102241908"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2009.5159961","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2009.5159961","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 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/A5034219830","display_name":"Shubhendu Bhasin","orcid":"https://orcid.org/0000-0002-8002-9684"},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"S. Bhasin","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL, USA","Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, 32611-6250 USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL, USA","institution_ids":["https://openalex.org/I33213144"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, 32611-6250 USA","institution_ids":["https://openalex.org/I33213144"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021562593","display_name":"K. Dupree","orcid":null},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K. Dupree","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL, USA","Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, 32611-6250 USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL, USA","institution_ids":["https://openalex.org/I33213144"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, 32611-6250 USA","institution_ids":["https://openalex.org/I33213144"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013944523","display_name":"Z. D. Wilcox","orcid":null},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Z. D. Wilcox","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL, USA","Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, 32611-6250 USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL, USA","institution_ids":["https://openalex.org/I33213144"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, 32611-6250 USA","institution_ids":["https://openalex.org/I33213144"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032651215","display_name":"Warren E. Dixon","orcid":"https://orcid.org/0000-0002-5091-181X"},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"W. E. Dixon","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL, USA","Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, 32611-6250 USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL, USA","institution_ids":["https://openalex.org/I33213144"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, 32611-6250 USA","institution_ids":["https://openalex.org/I33213144"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5034219830"],"corresponding_institution_ids":["https://openalex.org/I33213144"],"apc_list":null,"apc_paid":null,"fwci":2.2962,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.89608745,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"5","issue":null,"first_page":"3506","last_page":"3511"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9958000183105469,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9948999881744385,"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":0.7208701372146606},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7000806331634521},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6087169647216797},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.549532949924469},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45845216512680054},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4581103026866913},{"id":"https://openalex.org/keywords/viscoelasticity","display_name":"Viscoelasticity","score":0.44968998432159424},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4483654201030731},{"id":"https://openalex.org/keywords/backlash","display_name":"Backlash","score":0.44119730591773987},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.43926411867141724},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.41195499897003174},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.41181039810180664},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.41056540608406067},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32433152198791504},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27859076857566833},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15342500805854797},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1530188024044037},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10994672775268555}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7208701372146606},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7000806331634521},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6087169647216797},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.549532949924469},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45845216512680054},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4581103026866913},{"id":"https://openalex.org/C186541917","wikidata":"https://www.wikidata.org/wiki/Q910483","display_name":"Viscoelasticity","level":2,"score":0.44968998432159424},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4483654201030731},{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.44119730591773987},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.43926411867141724},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.41195499897003174},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.41181039810180664},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.41056540608406067},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32433152198791504},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27859076857566833},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15342500805854797},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1530188024044037},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10994672775268555},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2009.5159961","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2009.5159961","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1512183501","https://openalex.org/W1514564950","https://openalex.org/W1628678002","https://openalex.org/W1783961574","https://openalex.org/W1916035459","https://openalex.org/W1967377907","https://openalex.org/W1977375951","https://openalex.org/W1987335578","https://openalex.org/W1993906720","https://openalex.org/W2016958754","https://openalex.org/W2017280345","https://openalex.org/W2027248669","https://openalex.org/W2030397050","https://openalex.org/W2060537236","https://openalex.org/W2066401364","https://openalex.org/W2067573049","https://openalex.org/W2084399420","https://openalex.org/W2090974678","https://openalex.org/W2094502504","https://openalex.org/W2101915367","https://openalex.org/W2103929186","https://openalex.org/W2107495772","https://openalex.org/W2112036576","https://openalex.org/W2112651507","https://openalex.org/W2112937051","https://openalex.org/W2114702494","https://openalex.org/W2115431380","https://openalex.org/W2116444609","https://openalex.org/W2121991065","https://openalex.org/W2125288286","https://openalex.org/W2131457630","https://openalex.org/W2138169624","https://openalex.org/W2149286243","https://openalex.org/W2153062202","https://openalex.org/W2153864948","https://openalex.org/W2158928443","https://openalex.org/W2160539467","https://openalex.org/W2161761864","https://openalex.org/W2162055673","https://openalex.org/W2163577910","https://openalex.org/W2400612759","https://openalex.org/W4210762946","https://openalex.org/W4231359949","https://openalex.org/W6636506070"],"related_works":["https://openalex.org/W2318553114","https://openalex.org/W45990023","https://openalex.org/W2369073421","https://openalex.org/W2066639517","https://openalex.org/W2967708117","https://openalex.org/W2242762566","https://openalex.org/W2370149162","https://openalex.org/W2953861963","https://openalex.org/W1934622834","https://openalex.org/W2015036175"],"abstract_inverted_index":{"Control":[0],"of":[1,72,83,114,168],"a":[2,6,11,42,48,51,67,86],"robot":[3,22,43,122,170],"interacting":[4],"with":[5,15,54,171],"soft":[7],"compliant":[8],"environment":[9],"is":[10,39,64,90,103,153],"practically":[12],"important":[13],"problem,":[14],"potential":[16],"applications":[17],"in":[18,36,79],"areas":[19],"involving":[20],"human":[21],"interaction":[23],"(HRI)":[24],"like":[25],"rehabilitation,":[26],"search":[27],"and":[28,32,75,105,123,134,137,147,155,165],"rescue,":[29],"assistive":[30],"robotics":[31],"haptics.":[33],"The":[34,126],"objective,":[35],"this":[37],"paper,":[38],"to":[40,50,66,92,107],"control":[41],"as":[44],"it":[45],"transitions":[46],"from":[47],"non-contact":[49,164],"contact":[52,96,166],"state":[53],"an":[55],"unactuated":[56],"viscoelastic":[57,84,95],"mass-spring":[58,63,124],"system":[59,116],"such":[60],"that":[61],"the":[62,81,94,115,121,132,140,144,150,156,169],"regulated":[65],"desired":[68],"final":[69],"position.":[70],"Because":[71],"its":[73,172],"simplicity":[74],"better":[76],"physical":[77],"consistency":[78],"explaining":[80],"behavior":[82],"materials,":[85],"Hunt-Crossley":[87],"nonlinear":[88],"model":[89],"used":[91,161],"represent":[93],"dynamics.":[97],"An":[98],"adaptive":[99],"Lyapunov":[100],"based":[101],"controller":[102,128,152,158],"proposed,":[104],"shown":[106],"guarantee":[108],"uniformly":[109],"ultimately":[110],"bounded":[111],"(UUB)":[112],"regulation":[113],"despite":[117],"parametric":[118],"uncertainty":[119],"throughout":[120],"systems.":[125],"proposed":[127],"only":[129],"depends":[130],"on":[131],"position":[133],"velocity":[135],"terms,":[136],"hence,":[138],"obviates":[139],"need":[141],"for":[142,162],"measuring":[143],"impact":[145],"force":[146],"acceleration.":[148],"Further,":[149],"resulting":[151],"continuous,":[154],"same":[157],"can":[159],"be":[160],"both":[163],"states":[167],"environment.":[173]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}