{"id":"https://openalex.org/W4313065337","doi":"https://doi.org/10.1109/case49997.2022.9926525","title":"Robot Cartesian Compliance Variation for Safe Kinesthetic Teaching using Safety Control Barrier Functions","display_name":"Robot Cartesian Compliance Variation for Safe Kinesthetic Teaching using Safety Control Barrier Functions","publication_year":2022,"publication_date":"2022-08-20","ids":{"openalex":"https://openalex.org/W4313065337","doi":"https://doi.org/10.1109/case49997.2022.9926525"},"language":"en","primary_location":{"id":"doi:10.1109/case49997.2022.9926525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926525","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://lup.lub.lu.se/record/4252487f-a24f-489f-9a1e-350b2ce2223e","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085434144","display_name":"Juli\u00e1n M. Salt Ducaj\u00fa","orcid":"https://orcid.org/0000-0001-5256-8245"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Julian M. Salt Ducaju","raw_affiliation_strings":["Lund University,LTH,Department of Automatic Control,Lund,Sweden","Department of Automatic Control, LTH, Lund University, Lund, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lund University,LTH,Department of Automatic Control,Lund,Sweden","institution_ids":["https://openalex.org/I187531555"]},{"raw_affiliation_string":"Department of Automatic Control, LTH, Lund University, Lund, Sweden","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056496417","display_name":"Bj\u00f6rn Olofsson","orcid":"https://orcid.org/0000-0003-1320-032X"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Bjorn Olofsson","raw_affiliation_strings":["Lund University,LTH,Department of Automatic Control,Lund,Sweden","Department of Automatic Control, LTH, Lund University, Lund, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lund University,LTH,Department of Automatic Control,Lund,Sweden","institution_ids":["https://openalex.org/I187531555"]},{"raw_affiliation_string":"Department of Automatic Control, LTH, Lund University, Lund, Sweden","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013736282","display_name":"Anders Robertsson","orcid":"https://orcid.org/0000-0003-1063-4771"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Anders Robertsson","raw_affiliation_strings":["Lund University,LTH,Department of Automatic Control,Lund,Sweden","Department of Automatic Control, LTH, Lund University, Lund, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lund University,LTH,Department of Automatic Control,Lund,Sweden","institution_ids":["https://openalex.org/I187531555"]},{"raw_affiliation_string":"Department of Automatic Control, LTH, Lund University, Lund, Sweden","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084540714","display_name":"Rolf Johansson","orcid":"https://orcid.org/0000-0002-0786-8561"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Rolf Johansson","raw_affiliation_strings":["Lund University,LTH,Department of Automatic Control,Lund,Sweden","Department of Automatic Control, LTH, Lund University, Lund, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lund University,LTH,Department of Automatic Control,Lund,Sweden","institution_ids":["https://openalex.org/I187531555"]},{"raw_affiliation_string":"Department of Automatic Control, LTH, Lund University, Lund, Sweden","institution_ids":["https://openalex.org/I187531555"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I187531555"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2259","last_page":"2266"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9976000189781189,"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":0.9976000189781189,"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/T10809","display_name":"Occupational Health and Safety Research","score":0.9919999837875366,"subfield":{"id":"https://openalex.org/subfields/3614","display_name":"Radiological and Ultrasound Technology"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11357","display_name":"Risk and Safety Analysis","score":0.9749000072479248,"subfield":{"id":"https://openalex.org/subfields/1804","display_name":"Statistics, Probability and Uncertainty"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinesthetic-learning","display_name":"Kinesthetic learning","score":0.8674681186676025},{"id":"https://openalex.org/keywords/compliance","display_name":"Compliance (psychology)","score":0.6486033201217651},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5858262777328491},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5280041694641113},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.4609006643295288},{"id":"https://openalex.org/keywords/variation","display_name":"Variation (astronomy)","score":0.443284809589386},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37135210633277893},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.36329013109207153},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3304777443408966},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25904709100723267},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.22126176953315735},{"id":"https://openalex.org/keywords/mathematics-education","display_name":"Mathematics education","score":0.11199840903282166},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09539705514907837},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09086567163467407},{"id":"https://openalex.org/keywords/social-psychology","display_name":"Social psychology","score":0.06718656420707703},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06254920363426208}],"concepts":[{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.8674681186676025},{"id":"https://openalex.org/C2781460075","wikidata":"https://www.wikidata.org/wiki/Q1399332","display_name":"Compliance (psychology)","level":2,"score":0.6486033201217651},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5858262777328491},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5280041694641113},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.4609006643295288},{"id":"https://openalex.org/C2778334786","wikidata":"https://www.wikidata.org/wiki/Q1586270","display_name":"Variation (astronomy)","level":2,"score":0.443284809589386},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37135210633277893},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36329013109207153},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3304777443408966},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25904709100723267},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.22126176953315735},{"id":"https://openalex.org/C145420912","wikidata":"https://www.wikidata.org/wiki/Q853077","display_name":"Mathematics education","level":1,"score":0.11199840903282166},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09539705514907837},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09086567163467407},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.06718656420707703},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06254920363426208},{"id":"https://openalex.org/C44870925","wikidata":"https://www.wikidata.org/wiki/Q37547","display_name":"Astrophysics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/case49997.2022.9926525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926525","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:lup.lub.lu.se:4252487f-a24f-489f-9a1e-350b2ce2223e","is_oa":true,"landing_page_url":"https://lup.lub.lu.se/record/4252487f-a24f-489f-9a1e-350b2ce2223e","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:lup.lub.lu.se:4252487f-a24f-489f-9a1e-350b2ce2223e","is_oa":true,"landing_page_url":"https://lup.lub.lu.se/record/4252487f-a24f-489f-9a1e-350b2ce2223e","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferencePaper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1523815250","https://openalex.org/W1560270123","https://openalex.org/W1967377907","https://openalex.org/W2001472720","https://openalex.org/W2051910344","https://openalex.org/W2057538835","https://openalex.org/W2112474089","https://openalex.org/W2117402460","https://openalex.org/W2177274602","https://openalex.org/W2415165331","https://openalex.org/W2563129138","https://openalex.org/W2588802774","https://openalex.org/W2611146760","https://openalex.org/W2891454809","https://openalex.org/W2967099712","https://openalex.org/W2968945909","https://openalex.org/W3028964554","https://openalex.org/W3044675897","https://openalex.org/W3120308226","https://openalex.org/W3155907534","https://openalex.org/W6783954012"],"related_works":["https://openalex.org/W3111440524","https://openalex.org/W2558272010","https://openalex.org/W2068552404","https://openalex.org/W4392899229","https://openalex.org/W2921166921","https://openalex.org/W4385174651","https://openalex.org/W3162087156","https://openalex.org/W1597792207","https://openalex.org/W4255446267","https://openalex.org/W2133182130"],"abstract_inverted_index":{"Kinesthetic":[0],"teaching":[1],"allows":[2],"human":[3],"operators":[4],"to":[5,23,27,51,92,131],"reprogram":[6],"part":[7],"of":[8,56,66,77,117,125,135],"a":[9,57,83,94,103,126,140,147],"robot\u2019s":[10,68,137],"trajectory":[11,41],"by":[12,82],"manually":[13],"guiding":[14],"the":[15,29,53,67,78,114,118,136],"robot.":[16],"To":[17],"allow":[18],"kinesthetic":[19,73],"teaching,":[20],"and":[21,31],"also":[22],"avoid":[24],"any":[25],"harm":[26],"both":[28],"robot":[30,58,119,151],"its":[32,60,99],"environment,":[33,61],"Cartesian":[34],"impedance":[35],"control":[36],"is":[37,80,102,152],"here":[38],"used":[39],"for":[40],"following.":[42],"In":[43],"this":[44],"paper,":[45],"we":[46],"present":[47],"an":[48],"online":[49],"method":[50,79],"modify":[52],"compliant":[54],"behavior":[55],"toward":[59],"so":[62],"that":[63,88,112],"undesired":[64],"parts":[65],"workspace":[69],"are":[70,120],"avoided":[71],"during":[72],"teaching.":[74],"The":[75],"stability":[76],"guaranteed":[81],"well-known":[84],"passivity-based":[85],"energy-storage":[86],"formulation":[87],"has":[89],"been":[90],"modified":[91],"include":[93],"strict":[95],"Lyapunov":[96],"function,":[97],"i.e.,":[98],"time":[100],"derivative":[101],"globally":[104],"negative-definite":[105],"function.":[106],"Safety":[107],"Control":[108],"Barrier":[109],"Functions":[110],"(SCBFs)":[111],"consider":[113],"rigid-body":[115],"dynamics":[116],"formulated":[121],"as":[122],"inequality":[123],"constraints":[124],"quadratic":[127],"optimization":[128],"(QP)":[129],"problem":[130],"ensure":[132],"forward":[133],"invariance":[134],"states":[138],"in":[139],"safe":[141],"set.":[142],"An":[143],"experimental":[144],"evaluation":[145],"using":[146],"Franka":[148],"Emika":[149],"Panda":[150],"provided.":[153]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2023-01-06T00:00:00"}