{"id":"https://openalex.org/W2097006611","doi":"https://doi.org/10.1109/cdc.2004.1430212","title":"Optimization-based robot impedance controller design","display_name":"Optimization-based robot impedance controller design","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2097006611","doi":"https://doi.org/10.1109/cdc.2004.1430212","mag":"2097006611"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2004.1430212","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2004.1430212","pdf_url":null,"source":{"id":"https://openalex.org/S4363608267","display_name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","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":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","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/A5015388304","display_name":"M. Matinfar","orcid":"https://orcid.org/0000-0003-3314-1013"},"institutions":[{"id":"https://openalex.org/I204722609","display_name":"Queen's University","ror":"https://ror.org/02y72wh86","country_code":"CA","type":"education","lineage":["https://openalex.org/I204722609"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"M. Matinfar","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Queen's University, Kingston, ON, CANADA","Dept. of Electr. & Comput. Eng., Queen's Univ., Kingston, Ont., Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Queen's University, Kingston, ON, CANADA","institution_ids":["https://openalex.org/I204722609"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Queen's Univ., Kingston, Ont., Canada","institution_ids":["https://openalex.org/I204722609"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005410852","display_name":"Keyvan Hashtrudi-Zaad","orcid":"https://orcid.org/0000-0003-3567-5430"},"institutions":[{"id":"https://openalex.org/I204722609","display_name":"Queen's University","ror":"https://ror.org/02y72wh86","country_code":"CA","type":"education","lineage":["https://openalex.org/I204722609"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"K. Hashtrudi-Zaad","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Queen's University, Kingston, ON, CANADA","Dept. of Electr. & Comput. Eng., Queen's Univ., Kingston, Ont., Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Queen's University, Kingston, ON, CANADA","institution_ids":["https://openalex.org/I204722609"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Queen's Univ., Kingston, Ont., Canada","institution_ids":["https://openalex.org/I204722609"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5015388304"],"corresponding_institution_ids":["https://openalex.org/I204722609"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.13115553,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"ra 3","issue":null,"first_page":"1246","last_page":"1251 Vol.2"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9995999932289124,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.995199978351593,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9846000075340271,"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/impedance-control","display_name":"Impedance control","score":0.8806350231170654},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.8118135929107666},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7596489191055298},{"id":"https://openalex.org/keywords/impedance-parameters","display_name":"Impedance parameters","score":0.5442261695861816},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.52391517162323},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4760536849498749},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47048094868659973},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4701417088508606},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44099581241607666},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4214937090873718},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4136517643928528},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3625785708427429},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.34269291162490845},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12391015887260437},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.09857553243637085},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06377705931663513}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.8806350231170654},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.8118135929107666},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7596489191055298},{"id":"https://openalex.org/C113805353","wikidata":"https://www.wikidata.org/wiki/Q13424600","display_name":"Impedance parameters","level":3,"score":0.5442261695861816},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.52391517162323},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4760536849498749},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47048094868659973},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4701417088508606},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44099581241607666},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4214937090873718},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4136517643928528},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3625785708427429},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34269291162490845},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12391015887260437},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.09857553243637085},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06377705931663513},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace 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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2004.1430212","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2004.1430212","pdf_url":null,"source":{"id":"https://openalex.org/S4363608267","display_name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","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":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1967377907","https://openalex.org/W1978023077","https://openalex.org/W2105360813","https://openalex.org/W2112474089","https://openalex.org/W2119423083","https://openalex.org/W2127437759","https://openalex.org/W2131695702","https://openalex.org/W2150446927","https://openalex.org/W2158875718","https://openalex.org/W2171615998","https://openalex.org/W2224859784","https://openalex.org/W2308165226","https://openalex.org/W2342479373","https://openalex.org/W2798737326"],"related_works":["https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W4295916778","https://openalex.org/W2573372219","https://openalex.org/W2112995122","https://openalex.org/W2165087119","https://openalex.org/W2109744644","https://openalex.org/W2785665096"],"abstract_inverted_index":{"Impedance":[0],"control":[1,5,56,68],"is":[2,61,70,96],"a":[3,35,51],"compliance":[4],"strategy":[6],"capable":[7],"of":[8,17,28,38,92],"accommodating":[9],"both":[10],"unconstrained":[11],"and":[12,25,87],"constrained":[13],"motion.":[14],"The":[15,90],"performance":[16,33,91],"impedance":[18,42,55,59,77],"controllers":[19,95],"depend":[20],"heavily":[21],"upon":[22],"environment":[23,39],"dynamics":[24],"the":[26,74,93],"choice":[27],"target":[29,41,58,76],"impedance.":[30],"To":[31],"maintain":[32],"for":[34,57,79],"wide":[36],"range":[37],"dynamics,":[40],"needs":[43],"to":[44,72],"be":[45],"adjusted":[46],"accordingly.":[47],"In":[48],"this":[49],"paper,":[50],"geometrical":[52],"view":[53],"on":[54],"selection":[60],"presented.":[62],"Furthermore,":[63],"analytical":[64],"linear":[65],"quadratic":[66],"optimal":[67],"methodology":[69],"employed":[71],"tune":[73],"manipulator":[75],"parameters":[78],"an":[80],"optimum":[81],"performance,":[82],"requiring":[83],"trade-off":[84],"between":[85],"position":[86],"force":[88],"regulation.":[89],"proposed":[94],"evaluated":[97],"by":[98],"numerical":[99],"simulations.":[100]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}