{"id":"https://openalex.org/W2166324899","doi":"https://doi.org/10.1109/cca.2005.1507293","title":"Position accommodation and compliance control for robotic excavation","display_name":"Position accommodation and compliance control for robotic excavation","publication_year":2005,"publication_date":"2005-09-12","ids":{"openalex":"https://openalex.org/W2166324899","doi":"https://doi.org/10.1109/cca.2005.1507293","mag":"2166324899"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2005.1507293","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2005.1507293","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005.","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/A5003216869","display_name":"William Richardson-Little","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"William Richardson-Little","raw_affiliation_strings":["Institute for Aerospace Studies, University of Toronto, Toronto, ONT, Canada","Inst. for Aerosp. Studies, Toronto Univ., Ont"],"affiliations":[{"raw_affiliation_string":"Institute for Aerospace Studies, University of Toronto, Toronto, ONT, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Inst. for Aerosp. Studies, Toronto Univ., Ont","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064345706","display_name":"Christopher J. Damaren","orcid":"https://orcid.org/0000-0002-2036-2506"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"C. J. Damaren","raw_affiliation_strings":["Institute for Aerospace Studies, University of Toronto, Toronto, ONT, Canada"],"affiliations":[{"raw_affiliation_string":"Institute for Aerospace Studies, University of Toronto, Toronto, ONT, Canada","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5003216869"],"corresponding_institution_ids":["https://openalex.org/I185261750"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.23202216,"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":"1194","last_page":"1199"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9988999962806702,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9988999962806702,"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":0.9936000108718872,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9869999885559082,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/excavator","display_name":"Excavator","score":0.9562140703201294},{"id":"https://openalex.org/keywords/accommodation","display_name":"Accommodation","score":0.7014385461807251},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6966895461082458},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.683829128742218},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5982518792152405},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5796764492988586},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5327012538909912},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5242293477058411},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.45957469940185547},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4294305443763733},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40300965309143066},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35849541425704956},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2967475950717926},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26147234439849854},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.17812535166740417},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07407984137535095}],"concepts":[{"id":"https://openalex.org/C141392084","wikidata":"https://www.wikidata.org/wiki/Q182661","display_name":"Excavator","level":2,"score":0.9562140703201294},{"id":"https://openalex.org/C157660682","wikidata":"https://www.wikidata.org/wiki/Q419793","display_name":"Accommodation","level":2,"score":0.7014385461807251},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6966895461082458},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.683829128742218},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5982518792152405},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5796764492988586},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5327012538909912},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5242293477058411},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.45957469940185547},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4294305443763733},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40300965309143066},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35849541425704956},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2967475950717926},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26147234439849854},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.17812535166740417},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07407984137535095},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cca.2005.1507293","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2005.1507293","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6000000238418579}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1488896703","https://openalex.org/W1503843289","https://openalex.org/W1527070810","https://openalex.org/W1936583070","https://openalex.org/W2054423682","https://openalex.org/W2057956995","https://openalex.org/W2076022821","https://openalex.org/W2082254759","https://openalex.org/W2101087777","https://openalex.org/W2111615339","https://openalex.org/W2123368124","https://openalex.org/W2151101950","https://openalex.org/W2156392853","https://openalex.org/W2160279521","https://openalex.org/W2320037151","https://openalex.org/W6682790971"],"related_works":["https://openalex.org/W3003601017","https://openalex.org/W2038528908","https://openalex.org/W2997898942","https://openalex.org/W2901741596","https://openalex.org/W2363098002","https://openalex.org/W2347606691","https://openalex.org/W2324465777","https://openalex.org/W2384763423","https://openalex.org/W2903025760","https://openalex.org/W2018658498"],"abstract_inverted_index":{"A":[0,25],"robotic":[1],"excavator":[2,61],"must":[3,108],"be":[4,109],"able":[5],"to":[6,48,77,111,138],"operate":[7],"in":[8,41,53],"all":[9],"three":[10],"states":[11],"of":[12,19,56,87,116],"manipulator":[13],"motion:":[14],"free-space,":[15],"contact":[16],"and":[17,104,129],"exertion":[18],"a":[20,45,50,57,64,74,95,124,132,140],"force":[21,58,65,70,103],"against":[22],"an":[23],"environment.":[24],"position":[26,37,46,126,133],"accommodation":[27,38],"control":[28,86],"scheme":[29],"is":[30,66,71],"ideally":[31],"suited":[32],"for":[33,84,98],"this":[34,42],"task.":[35],"The":[36,118],"method":[39,97,107],"described":[40],"study":[43],"uses":[44],"controller":[47],"track":[49],"pre-defined":[51],"trajectory":[52],"the":[54,60,68,79,88,100,113,121],"absence":[55],"at":[59],"bucket.":[62],"If":[63],"detected,":[67],"measured":[69],"used,":[72],"through":[73],"compliance":[75],"controller,":[76,135],"modify":[78],"commanded":[80],"trajectory.":[81],"This":[82,92],"allows":[83],"better":[85],"complete":[89],"excavation":[90],"cycle.":[91],"paper":[93],"describes":[94],"rheological":[96],"modeling":[99],"soil-bucket":[101],"interaction":[102],"how":[105],"that":[106],"modified":[110],"suit":[112],"unique":[114],"case":[115],"excavation.":[117],"results":[119],"illustrate":[120],"difference":[122],"between":[123],"purely":[125],"controlled":[127],"robot":[128],"one":[130],"using":[131],"accommodation/compliance":[134],"when":[136],"used":[137],"dig":[139],"level":[141],"path":[142]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}