{"id":"https://openalex.org/W2146861986","doi":"https://doi.org/10.1109/cdc.2004.1430214","title":"Robust impedance control of robotic manipulators","display_name":"Robust impedance control of robotic manipulators","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2146861986","doi":"https://doi.org/10.1109/cdc.2004.1430214","mag":"2146861986"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2004.1430214","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2004.1430214","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/A5072225338","display_name":"Asier Ibeas","orcid":"https://orcid.org/0000-0001-5094-3152"},"institutions":[{"id":"https://openalex.org/I169108374","display_name":"University of the Basque Country","ror":"https://ror.org/000xsnr85","country_code":"ES","type":"education","lineage":["https://openalex.org/I169108374"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"A. Ibeas","raw_affiliation_strings":["Dpto. de Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad del Pa\u00eds, Bilbao, Spain","Dpto. de Ingenieria de Sistemas y Automatica, Univ. del Pais Vasco, Bilbao, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dpto. de Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad del Pa\u00eds, Bilbao, Spain","institution_ids":["https://openalex.org/I169108374"]},{"raw_affiliation_string":"Dpto. de Ingenieria de Sistemas y Automatica, Univ. del Pais Vasco, Bilbao, Spain","institution_ids":["https://openalex.org/I169108374"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042326806","display_name":"Manuel De la Sen","orcid":"https://orcid.org/0000-0001-9320-9433"},"institutions":[{"id":"https://openalex.org/I169108374","display_name":"University of the Basque Country","ror":"https://ror.org/000xsnr85","country_code":"ES","type":"education","lineage":["https://openalex.org/I169108374"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"M. de la Sen","raw_affiliation_strings":["Dpto. de Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad del Pa\u00eds, Bilbao, Spain","Dpto. de Ingenieria de Sistemas y Automatica, Univ. del Pais Vasco, Bilbao, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dpto. de Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad del Pa\u00eds, Bilbao, Spain","institution_ids":["https://openalex.org/I169108374"]},{"raw_affiliation_string":"Dpto. de Ingenieria de Sistemas y Automatica, Univ. del Pais Vasco, Bilbao, Spain","institution_ids":["https://openalex.org/I169108374"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.25053996,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"38","issue":null,"first_page":"1258","last_page":"1263 Vol.2"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9990000128746033,"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":0.9990000128746033,"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":0.996399998664856,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9947999715805054,"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/control-theory","display_name":"Control theory (sociology)","score":0.8231631517410278},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6111687421798706},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5346998572349548},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5325794219970703},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.522940993309021},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5074328780174255},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49970459938049316},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4983341693878174},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.47338953614234924},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.42118048667907715},{"id":"https://openalex.org/keywords/relay","display_name":"Relay","score":0.418750524520874},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3974253535270691},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.35034608840942383},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32915371656417847},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2859814763069153},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.24031364917755127},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21168804168701172},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19537284970283508},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1452738344669342},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08288919925689697}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8231631517410278},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6111687421798706},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5346998572349548},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5325794219970703},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.522940993309021},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5074328780174255},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49970459938049316},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4983341693878174},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.47338953614234924},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.42118048667907715},{"id":"https://openalex.org/C2778156585","wikidata":"https://www.wikidata.org/wiki/Q174053","display_name":"Relay","level":3,"score":0.418750524520874},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3974253535270691},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.35034608840942383},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32915371656417847},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2859814763069153},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.24031364917755127},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21168804168701172},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19537284970283508},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1452738344669342},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08288919925689697},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"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/cdc.2004.1430214","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2004.1430214","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":[{"display_name":"Peace, Justice and strong institutions","score":0.6200000047683716,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321764","display_name":"Ministerio de Educaci\u00f3n, Cultura y Deporte","ror":"https://ror.org/03nc27g21"},{"id":"https://openalex.org/F4320321837","display_name":"Ministerio de Econom\u00eda y Competitividad","ror":"https://ror.org/034900433"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W58904139","https://openalex.org/W391578156","https://openalex.org/W1596951786","https://openalex.org/W1997650413","https://openalex.org/W2004270347","https://openalex.org/W2056827911","https://openalex.org/W2109067716","https://openalex.org/W2117596436","https://openalex.org/W2144487083","https://openalex.org/W2155649670","https://openalex.org/W2158796185","https://openalex.org/W2341059552","https://openalex.org/W2610857016","https://openalex.org/W3141390961","https://openalex.org/W4205362845"],"related_works":["https://openalex.org/W2539674285","https://openalex.org/W1038122923","https://openalex.org/W1998322187","https://openalex.org/W2952514781","https://openalex.org/W3019210376","https://openalex.org/W2391145594","https://openalex.org/W2326572623","https://openalex.org/W1559320887","https://openalex.org/W2137838797","https://openalex.org/W2123479323"],"abstract_inverted_index":{"A":[0,12,63],"task":[1,61,98],"space":[2,99],"robust":[3,67,186],"trajectory":[4],"tracking":[5,91],"control":[6,44,68,187,213],"is":[7,25,46,69,83,159,189,206,216,231],"developed":[8],"for":[9,22],"robotic":[10,50],"manipulators.":[11],"second":[13],"order":[14,129,162],"linear":[15,87],"model,":[16],"which":[17,138,223],"defines":[18],"the":[19,23,29,37,49,56,60,90,94,97,102,105,108,116,134,144,165,168,173,180,185,192,212,225,228],"desired":[20,109],"impedance":[21],"robot,":[24],"used":[26,70],"to":[27,47,54,71,130,163,176,191,208],"generate":[28],"reference":[30,57],"position,":[31,110],"velocity":[32,111],"and":[33,76,107,112,200],"acceleration":[34,113],"trajectories":[35,58],"under":[36],"influence":[38],"of":[39,89,93,167,172,179,194,227],"an":[40,177],"external":[41],"force.":[42],"The":[43,203],"objective":[45,214],"make":[48],"manipulator's":[51],"end":[52],"effector":[53],"track":[55],"in":[59,96,128,132,137,149,161,217],"space.":[62],"sliding":[64,81,150],"mode":[65,151],"based":[66],"deal":[72],"with":[73,125,133,197],"system":[74,95,181,205],"uncertainties":[75,182,199],"unmodeled":[77,201],"dynamics.":[78,202],"Thus,":[79],"a":[80,86,123,126,139,154,195,220],"manifold":[82],"defined":[84],"by":[85,122],"combination":[88],"errors":[92],"built":[100],"from":[101],"difference":[103],"between":[104],"real":[106,140],"trajectories.":[114],"Moreover,":[115],"ideal":[117],"relay":[118,124],"has":[119],"been":[120],"substituted":[121],"dead-zone":[127],"fit":[131],"actual":[135],"way":[136],"computational":[141],"device":[142],"implements":[143],"sign":[145],"function":[146],"being":[147],"typical":[148],"control.":[152],"Furthermore,":[153],"higher":[155],"level":[156],"supervision":[157],"algorithm":[158],"proposed":[160,229],"reduce":[164],"amplitude":[166],"high":[169],"frequency":[170],"components":[171],"output":[174],"associated":[175],"overestimation":[178],"bounds.":[183],"Then,":[184],"law":[188],"applied":[190],"case":[193],"robot":[196],"parametric":[198],"closed-loop":[204],"proved":[207],"be":[209],"stable":[210],"while":[211],"fulfilled":[215],"practice.":[218],"Finally,":[219],"simulation":[221],"example":[222],"shows":[224],"usefulness":[226],"scheme":[230],"presented.":[232]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}