{"id":"https://openalex.org/W3098705350","doi":"https://doi.org/10.1109/amc44022.2020.9244337","title":"Novel Algorithm for Position/Force Control of Multi-DOF Robotic Systems","display_name":"Novel Algorithm for Position/Force Control of Multi-DOF Robotic Systems","publication_year":2020,"publication_date":"2020-09-14","ids":{"openalex":"https://openalex.org/W3098705350","doi":"https://doi.org/10.1109/amc44022.2020.9244337","mag":"3098705350"},"language":"en","primary_location":{"id":"doi:10.1109/amc44022.2020.9244337","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc44022.2020.9244337","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","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/A5036187468","display_name":"Tarik Uzunovi\u0107","orcid":"https://orcid.org/0000-0002-7979-7395"},"institutions":[{"id":"https://openalex.org/I104817121","display_name":"University of Sarajevo","ror":"https://ror.org/02hhwgd43","country_code":"BA","type":"education","lineage":["https://openalex.org/I104817121"]}],"countries":["BA"],"is_corresponding":true,"raw_author_name":"Tarik Uzunovic","raw_affiliation_strings":["Faculty of Electrical Engineering, University of Sarajevo, Sarajevo, Bosnia and Herzegovina"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, University of Sarajevo, Sarajevo, Bosnia and Herzegovina","institution_ids":["https://openalex.org/I104817121"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065559600","display_name":"Asif \u015eabanovi\u00e7","orcid":"https://orcid.org/0000-0002-2783-9354"},"institutions":[{"id":"https://openalex.org/I157703844","display_name":"International University of Sarajevo","ror":"https://ror.org/01aa4jj71","country_code":"BA","type":"education","lineage":["https://openalex.org/I157703844"]},{"id":"https://openalex.org/I347673840","display_name":"Academy of Sciences and Arts of Bosnia and Herzegovina","ror":"https://ror.org/048b7d518","country_code":"BA","type":"other","lineage":["https://openalex.org/I347673840"]}],"countries":["BA"],"is_corresponding":false,"raw_author_name":"Asif Sabanovic","raw_affiliation_strings":["Academy of Sciences and Arts of Bosnia and Herzegovina, Sarajevo, Bosnia and Herzegovina","Faculty of Engineering and Natural Sciences, International University of Sarajevo, Sarajevo, Bosnia and Herzegovina"],"affiliations":[{"raw_affiliation_string":"Academy of Sciences and Arts of Bosnia and Herzegovina, Sarajevo, Bosnia and Herzegovina","institution_ids":["https://openalex.org/I347673840"]},{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, International University of Sarajevo, Sarajevo, Bosnia and Herzegovina","institution_ids":["https://openalex.org/I157703844"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024835726","display_name":"Minoru Yokoyama","orcid":"https://orcid.org/0000-0002-3027-7591"},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Minoru Yokoyama","raw_affiliation_strings":["Department of Physics, Electrical and Computer Engineering, Graduate School of Engineering, Yokohama National University, Yokohama, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Physics, Electrical and Computer Engineering, Graduate School of Engineering, Yokohama National University, Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000850095","display_name":"Tomoyuki Shimono","orcid":"https://orcid.org/0000-0002-0115-5499"},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomoyuki Shimono","raw_affiliation_strings":["Faculty of Engineering Division of Intelligent Systems Engineering, Yokohama National University, Yokohama, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering Division of Intelligent Systems Engineering, Yokohama National University, Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5036187468"],"corresponding_institution_ids":["https://openalex.org/I104817121"],"apc_list":null,"apc_paid":null,"fwci":0.9716,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.72939077,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"273","last_page":"278"},"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":0.9997000098228455,"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":0.9952999949455261,"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/position","display_name":"Position (finance)","score":0.8013365268707275},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6784992218017578},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6606732606887817},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5193287134170532},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5087669491767883},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4962025284767151},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4835759997367859},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.46354028582572937},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.46218761801719666},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4199712872505188},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4152567982673645},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3980156481266022},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32252204418182373},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25049448013305664},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08299973607063293},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.06120595335960388}],"concepts":[{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.8013365268707275},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6784992218017578},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6606732606887817},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5193287134170532},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5087669491767883},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4962025284767151},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4835759997367859},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.46354028582572937},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.46218761801719666},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4199712872505188},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4152567982673645},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3980156481266022},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32252204418182373},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25049448013305664},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08299973607063293},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.06120595335960388},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"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/amc44022.2020.9244337","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc44022.2020.9244337","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G2234279842","display_name":null,"funder_award_id":"CA16116","funder_id":"https://openalex.org/F4320320366","funder_display_name":"European Cooperation in Science and Technology"}],"funders":[{"id":"https://openalex.org/F4320320366","display_name":"European Cooperation in Science and Technology","ror":"https://ror.org/01bstzn19"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1496777766","https://openalex.org/W1911167679","https://openalex.org/W2096323098","https://openalex.org/W2107429380","https://openalex.org/W2112474089","https://openalex.org/W2131224456","https://openalex.org/W2982468572","https://openalex.org/W4232280621","https://openalex.org/W4242059591"],"related_works":["https://openalex.org/W2951020105","https://openalex.org/W1995243476","https://openalex.org/W4300013288","https://openalex.org/W2105507641","https://openalex.org/W2887125121","https://openalex.org/W2755887994","https://openalex.org/W2145590848","https://openalex.org/W2369699286","https://openalex.org/W3149490355","https://openalex.org/W2374143010"],"abstract_inverted_index":{"The":[0,22,62],"paper":[1],"introduces":[2],"a":[3,94],"novel":[4],"control":[5,9,27,34,47,66,70],"strategy":[6,23],"for":[7,15],"simultaneous":[8],"of":[10,17,90],"position":[11,26,57,65],"and":[12,31,59,68,97],"interaction":[13,32,92],"force":[14,33,60,69],"multi-degrees":[16],"freedom":[18],"robotic":[19],"systems":[20],"(multi-DOF).":[21],"enables":[24],"both":[25],"in":[28,72,83],"free":[29],"motion,":[30],"during":[35],"contact":[36],"with":[37],"an":[38],"environment.":[39,99],"In":[40],"that":[41],"sense,":[42],"it":[43],"differs":[44],"from":[45],"classical":[46,85],"algorithms":[48],"which":[49],"are":[50],"switching":[51],"between":[52,64,93],"two":[53],"different":[54],"controllers,":[55],"namely,":[56],"controller":[58],"controller.":[61],"transition":[63],"mode":[67,71],"the":[73,84,91],"newly":[74],"proposed":[75],"structure":[76],"is":[77],"smooth,":[78],"removing":[79],"oscillations":[80],"often":[81],"present":[82],"algorithms.":[86],"This":[87],"improves":[88],"safety":[89],"controlled":[95],"system":[96],"its":[98]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
