{"id":"https://openalex.org/W2056996905","doi":"https://doi.org/10.1109/acc.2013.6580608","title":"Neural PID admittance control of a robot","display_name":"Neural PID admittance control of a robot","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W2056996905","doi":"https://doi.org/10.1109/acc.2013.6580608","mag":"2056996905"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2013.6580608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2013.6580608","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5008201587","display_name":"Wen Yu","orcid":"https://orcid.org/0000-0002-9540-7924"},"institutions":[{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"funder","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4413696010"]},{"id":"https://openalex.org/I68368234","display_name":"Center for Research and Advanced Studies of the National Polytechnic Institute","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Wen Yu","raw_affiliation_strings":["Departamento de Control Automatico, CINVESTAV-IPN, National Polytechnic Institute, Mexico, Mexico","Dept. de Control Automat., Nat. Polytech. Inst., Mexico City, Mexico"],"affiliations":[{"raw_affiliation_string":"Departamento de Control Automatico, CINVESTAV-IPN, National Polytechnic Institute, Mexico, Mexico","institution_ids":["https://openalex.org/I68368234"]},{"raw_affiliation_string":"Dept. de Control Automat., Nat. Polytech. Inst., Mexico City, Mexico","institution_ids":["https://openalex.org/I4210090124"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019029806","display_name":"Roberto C. Laredo Rodr\u00edguez","orcid":null},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Center for Research and Advanced Studies of the National Polytechnic Institute","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]},{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"funder","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4413696010"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Roberto Carmona Rodriguez","raw_affiliation_strings":["Departamento de Control Automatico, CINVESTAV-IPN, National Polytechnic Institute, Mexico, Mexico","Dept. de Control Automat., Nat. Polytech. Inst., Mexico City, Mexico"],"affiliations":[{"raw_affiliation_string":"Departamento de Control Automatico, CINVESTAV-IPN, National Polytechnic Institute, Mexico, Mexico","institution_ids":["https://openalex.org/I68368234"]},{"raw_affiliation_string":"Dept. de Control Automat., Nat. Polytech. Inst., Mexico City, Mexico","institution_ids":["https://openalex.org/I4210090124"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100683740","display_name":"Xiaoou Li","orcid":"https://orcid.org/0000-0003-3087-7375"},"institutions":[{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"funder","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4413696010"]},{"id":"https://openalex.org/I68368234","display_name":"Center for Research and Advanced Studies of the National Polytechnic Institute","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Xiaoou Li","raw_affiliation_strings":["Departamento de Control Automatico, CINVESTAV-IPN, National Polytechnic Institute, Mexico, Mexico","Dept. de Comput., Nat. Polytech. Inst., Mexico City, Mexico"],"affiliations":[{"raw_affiliation_string":"Departamento de Control Automatico, CINVESTAV-IPN, National Polytechnic Institute, Mexico, Mexico","institution_ids":["https://openalex.org/I68368234"]},{"raw_affiliation_string":"Dept. de Comput., Nat. Polytech. Inst., Mexico City, Mexico","institution_ids":["https://openalex.org/I4210090124"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5008201587"],"corresponding_institution_ids":["https://openalex.org/I4210090124","https://openalex.org/I68368234"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.11392205,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4963","last_page":"4968"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9987999796867371,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9987999796867371,"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":0.998199999332428,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9980000257492065,"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/pid-controller","display_name":"PID controller","score":0.8315202593803406},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7593604326248169},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.6523882746696472},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6192576885223389},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5859690308570862},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.560296356678009},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.48229220509529114},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47389689087867737},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.47095829248428345},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4698922634124756},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4595462679862976},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.4542246162891388},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.41729307174682617},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3153842091560364},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2802896201610565},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27890902757644653},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26184359192848206},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.15986430644989014},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1566673219203949}],"concepts":[{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.8315202593803406},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7593604326248169},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.6523882746696472},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6192576885223389},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5859690308570862},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.560296356678009},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48229220509529114},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47389689087867737},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.47095829248428345},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4698922634124756},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4595462679862976},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4542246162891388},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.41729307174682617},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3153842091560364},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2802896201610565},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27890902757644653},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26184359192848206},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.15986430644989014},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1566673219203949},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2013.6580608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2013.6580608","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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":42,"referenced_works":["https://openalex.org/W160280690","https://openalex.org/W575905749","https://openalex.org/W1581095231","https://openalex.org/W1964214514","https://openalex.org/W1966552874","https://openalex.org/W1967377907","https://openalex.org/W1980246867","https://openalex.org/W1987832113","https://openalex.org/W2016958754","https://openalex.org/W2030397050","https://openalex.org/W2033880740","https://openalex.org/W2034839795","https://openalex.org/W2050414686","https://openalex.org/W2065424585","https://openalex.org/W2066379939","https://openalex.org/W2079336331","https://openalex.org/W2084828843","https://openalex.org/W2093324968","https://openalex.org/W2104166416","https://openalex.org/W2109159655","https://openalex.org/W2113041525","https://openalex.org/W2123419935","https://openalex.org/W2124338051","https://openalex.org/W2124815790","https://openalex.org/W2129608559","https://openalex.org/W2131314118","https://openalex.org/W2131949474","https://openalex.org/W2135738110","https://openalex.org/W2139267874","https://openalex.org/W2142701121","https://openalex.org/W2158796863","https://openalex.org/W2158970259","https://openalex.org/W2166783325","https://openalex.org/W3131639500","https://openalex.org/W4237154367","https://openalex.org/W4242929450","https://openalex.org/W4249242153","https://openalex.org/W4292170058","https://openalex.org/W4302178119","https://openalex.org/W6678616629","https://openalex.org/W6679655729","https://openalex.org/W6842141901"],"related_works":["https://openalex.org/W1886477626","https://openalex.org/W2762381663","https://openalex.org/W4317826762","https://openalex.org/W218732962","https://openalex.org/W1540467731","https://openalex.org/W1979383880","https://openalex.org/W2538037439","https://openalex.org/W2741909783","https://openalex.org/W4210919297","https://openalex.org/W1532677580"],"abstract_inverted_index":{"In":[0,56],"order":[1,61],"to":[2,40,62,68],"achieve":[3],"the":[4,7,19,57,75],"goal":[5],"of":[6,18,91,102],"operator":[8],"feeling":[9],"as":[10],"if":[11],"a":[12,26,31,88],"wearable":[13,32],"robot":[14,71],"is":[15,87],"natural":[16,89],"extension":[17],"body,":[20],"in":[21,44,60,70,111],"this":[22],"paper":[23],"we":[24,73],"develop":[25],"novel":[27,85],"admittance":[28],"control":[29,79,86,95],"for":[30],"robot.":[33],"This":[34,84],"controller":[35],"uses":[36],"three":[37],"force":[38],"sensors":[39],"generate":[41],"reference":[42],"signals":[43],"task":[45,58,112],"space.":[46,113],"It":[47],"has":[48],"PID":[49,82,94],"form":[50],"and":[51,96],"can":[52],"be":[53],"easily":[54],"realized.":[55],"space,":[59],"minimize":[63],"steady-state":[64],"error":[65],"with":[66],"respect":[67],"uncertainties":[69],"control,":[72],"extend":[74],"popular":[76],"neural":[77,81,97],"PD":[78],"into":[80],"control.":[83],"combination":[90],"industrial":[92],"linear":[93],"compensation.":[98],"Novel":[99],"sufficient":[100],"conditions":[101],"semiglobal":[103],"asymptotic":[104],"stability":[105,109],"are":[106],"proposed":[107],"via":[108],"analysis":[110]},"counts_by_year":[{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}