{"id":"https://openalex.org/W2763673233","doi":"https://doi.org/10.1109/ccta.2017.8062635","title":"Generalized momentum based-observer for robot impact detection \u2014 Insights and guidelines under characterized uncertainties","display_name":"Generalized momentum based-observer for robot impact detection \u2014 Insights and guidelines under characterized uncertainties","publication_year":2017,"publication_date":"2017-08-01","ids":{"openalex":"https://openalex.org/W2763673233","doi":"https://doi.org/10.1109/ccta.2017.8062635","mag":"2763673233"},"language":"en","primary_location":{"id":"doi:10.1109/ccta.2017.8062635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2017.8062635","pdf_url":null,"source":{"id":"https://openalex.org/S4306498159","display_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","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":"2017 IEEE Conference on Control Technology and Applications (CCTA)","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/A5055425684","display_name":"Nolwenn Briquet-Kerestedjian","orcid":"https://orcid.org/0000-0002-2248-2376"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]},{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Nolwenn Briquet-Kerestedjian","raw_affiliation_strings":["CEA, LIST, Interactive Robotics Laboratory, Gif-sur-Yvette, France","Laboratoire des Signaux et Systemes (L2S), CentraleSupelec-CNRS-Univ., Gif-sur-Yvette, France"],"affiliations":[{"raw_affiliation_string":"CEA, LIST, Interactive Robotics Laboratory, Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I4210085861","https://openalex.org/I2738703131"]},{"raw_affiliation_string":"Laboratoire des Signaux et Systemes (L2S), CentraleSupelec-CNRS-Univ., Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I4210107720","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018927741","display_name":"Maria Makarov","orcid":"https://orcid.org/0000-0002-6954-8993"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Maria Makarov","raw_affiliation_strings":["Laboratoire des Signaux et Systemes (L2S), CentraleSupelec-CNRS-Univ., Gif-sur-Yvette, France"],"affiliations":[{"raw_affiliation_string":"Laboratoire des Signaux et Systemes (L2S), CentraleSupelec-CNRS-Univ., Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I4210107720","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109874922","display_name":"Mathieu Grossard","orcid":null},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Mathieu Grossard","raw_affiliation_strings":["CEA, LIST, Interactive Robotics Laboratory, Gif-sur-Yvette, France"],"affiliations":[{"raw_affiliation_string":"CEA, LIST, Interactive Robotics Laboratory, Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I4210085861","https://openalex.org/I2738703131"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066774503","display_name":"Pedro Rodr\u00edguez-Ayerbe","orcid":"https://orcid.org/0000-0001-7452-4155"},"institutions":[{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Pedro Rodriguez-Ayerbe","raw_affiliation_strings":["Laboratoire des Signaux et Systemes (L2S), CentraleSupelec-CNRS-Univ., Gif-sur-Yvette, France"],"affiliations":[{"raw_affiliation_string":"Laboratoire des Signaux et Systemes (L2S), CentraleSupelec-CNRS-Univ., Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I4210107720","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5055425684"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2738703131","https://openalex.org/I4210085861","https://openalex.org/I4210107720"],"apc_list":null,"apc_paid":null,"fwci":2.1642,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.85795918,"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":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9994999766349792,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9994999766349792,"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/T10534","display_name":"Structural Health Monitoring Techniques","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T10928","display_name":"Probabilistic and Robust Engineering Design","score":0.9966999888420105,"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/control-theory","display_name":"Control theory (sociology)","score":0.6825303435325623},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6493868827819824},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5470654368400574},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5249661803245544},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5074581503868103},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.48654499650001526},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.4303049147129059},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.41573160886764526},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40177789330482483},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28803354501724243},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21808597445487976},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2154621183872223},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0813005268573761}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6825303435325623},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6493868827819824},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5470654368400574},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5249661803245544},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5074581503868103},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.48654499650001526},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.4303049147129059},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.41573160886764526},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40177789330482483},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28803354501724243},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21808597445487976},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2154621183872223},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0813005268573761},{"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/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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ccta.2017.8062635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2017.8062635","pdf_url":null,"source":{"id":"https://openalex.org/S4306498159","display_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","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":"2017 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01621674v1","is_oa":false,"landing_page_url":"https://centralesupelec.hal.science/hal-01621674","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"1st IEEE Conference on Control Technology and Applications (CCTA 2017), Aug 2017, Mauna Lani Resort, HI, USA, USA United States. pp.1282-1287, ⟨10.1109/ccta.2017.8062635⟩","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1597576211","https://openalex.org/W1666709923","https://openalex.org/W1949687802","https://openalex.org/W1969140852","https://openalex.org/W1998462359","https://openalex.org/W2023617117","https://openalex.org/W2042559652","https://openalex.org/W2130821661","https://openalex.org/W2132029223","https://openalex.org/W2135663228","https://openalex.org/W2149085596","https://openalex.org/W2154777391","https://openalex.org/W2170133847","https://openalex.org/W2192365361","https://openalex.org/W2217681286","https://openalex.org/W2221590109","https://openalex.org/W2266380092","https://openalex.org/W2288288996","https://openalex.org/W2571025100","https://openalex.org/W2591683682","https://openalex.org/W2784203668","https://openalex.org/W6661140862","https://openalex.org/W6679330520"],"related_works":["https://openalex.org/W2152950565","https://openalex.org/W1617565119","https://openalex.org/W160381218","https://openalex.org/W2512958550","https://openalex.org/W2329266651","https://openalex.org/W3103825105","https://openalex.org/W2004102934","https://openalex.org/W4366455350","https://openalex.org/W4321844193","https://openalex.org/W2099777870"],"abstract_inverted_index":{"In":[0],"the":[1,15,24,37,51,55,64,69,120,129,134,147],"context":[2],"of":[3,58,116,139],"human-robot":[4],"interaction,":[5],"detecting":[6],"an":[7],"impact":[8,43],"between":[9,82],"a":[10,113],"serial":[11],"robot":[12,42,149],"manipulator":[13],"and":[14,22,30,49,76,96,104,109,137],"human":[16],"operator":[17],"or":[18],"its":[19],"environment":[20],"efficiently":[21],"at":[23],"earliest":[25],"is":[26,80,107,143],"essential":[27],"for":[28,41,119,128],"safe":[29],"efficient":[31],"operations.":[32],"This":[33,141],"work":[34],"relies":[35],"on":[36,133,146],"generalized":[38],"momentum":[39],"based-observer":[40],"detection":[44],"using":[45],"only":[46],"motor/joint":[47],"information":[48],"characterizes":[50],"uncertainties":[52,62,91],"to":[53],"quantify":[54],"expected":[56,135],"sensitivity":[57,138],"detection.":[59,140],"Indeed,":[60],"modeling":[61,90],"affect":[63],"external":[65,74],"torque":[66],"estimation":[67],"in":[68,87,102],"same":[70],"structural":[71,78],"way":[72],"as":[73],"disturbances":[75],"no":[77],"decoupling":[79],"reachable":[81],"both.":[83],"For":[84],"this":[85,88],"purpose":[86],"study,":[89],"are":[92,126],"divided":[93],"into":[94],"parametric":[95],"numerical":[97],"differentiation":[98],"errors.":[99],"Their":[100],"contribution":[101],"process":[103],"measurement":[105],"noises":[106],"detailed":[108],"then":[110],"approximated":[111],"by":[112],"white":[114],"noise":[115],"characterized":[117],"variance":[118],"observer":[121],"design.":[122],"High-level":[123],"tuning":[124],"guidelines":[125],"provided":[127],"design":[130],"parameters":[131],"depending":[132],"speed":[136],"approach":[142],"applied":[144],"experimentally":[145],"CEA":[148],"arm":[150],"manipulator.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}