{"id":"https://openalex.org/W2129068364","doi":"https://doi.org/10.1109/cdc.2010.5717891","title":"Immersion and invariance control for an antagonistic joint with nonlinear mechanical stiffness","display_name":"Immersion and invariance control for an antagonistic joint with nonlinear mechanical stiffness","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2129068364","doi":"https://doi.org/10.1109/cdc.2010.5717891","mag":"2129068364"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2010.5717891","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2010.5717891","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"49th IEEE Conference on Decision and Control (CDC)","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/A5011391990","display_name":"Thomas Wimb\u00f6ck","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Thomas Wimbock","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048539897","display_name":"Christian Ott","orcid":"https://orcid.org/0000-0003-0987-7493"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Ott","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111425451","display_name":"Gerd Hirzinger","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Gerd Hirzinger","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5011391990"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":1.4581,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.86440279,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1128","last_page":"1135"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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":0.9990000128746033,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9975000023841858,"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"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9966999888420105,"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/joint-stiffness","display_name":"Joint stiffness","score":0.7759113907814026},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7559452056884766},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.7393674850463867},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.6613004803657532},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6577246189117432},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5679373145103455},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5088360905647278},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.47794440388679504},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4594361186027527},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.4552740454673767},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3716418147087097},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3361927270889282},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19862782955169678},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15649312734603882},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15430742502212524}],"concepts":[{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.7759113907814026},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7559452056884766},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.7393674850463867},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.6613004803657532},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6577246189117432},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5679373145103455},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5088360905647278},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.47794440388679504},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4594361186027527},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.4552740454673767},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3716418147087097},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3361927270889282},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19862782955169678},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15649312734603882},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15430742502212524},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc.2010.5717891","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2010.5717891","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"49th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:68180","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2010.5717891>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7699999809265137,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W870055","https://openalex.org/W240272400","https://openalex.org/W1564897360","https://openalex.org/W1611538460","https://openalex.org/W1970628739","https://openalex.org/W1996630649","https://openalex.org/W2008796702","https://openalex.org/W2037178089","https://openalex.org/W2057879210","https://openalex.org/W2060601808","https://openalex.org/W2072288830","https://openalex.org/W2083483041","https://openalex.org/W2096518025","https://openalex.org/W2104181254","https://openalex.org/W2106630776","https://openalex.org/W2108154420","https://openalex.org/W2111394010","https://openalex.org/W2113248872","https://openalex.org/W2113873479","https://openalex.org/W2126814366","https://openalex.org/W2128137193","https://openalex.org/W2135482175","https://openalex.org/W2150024155","https://openalex.org/W2150066987","https://openalex.org/W2157683422","https://openalex.org/W2169706473","https://openalex.org/W3217246742","https://openalex.org/W4285719527","https://openalex.org/W6600037581","https://openalex.org/W6633694296","https://openalex.org/W6683463872","https://openalex.org/W7000058673"],"related_works":["https://openalex.org/W2083759350","https://openalex.org/W3133687580","https://openalex.org/W2021098562","https://openalex.org/W2526541772","https://openalex.org/W2274365341","https://openalex.org/W1566538768","https://openalex.org/W1897710365","https://openalex.org/W2942851934","https://openalex.org/W2366081543","https://openalex.org/W2116005591"],"abstract_inverted_index":{"Tendon":[0],"controlled":[1],"robots":[2],"with":[3,45,91],"nonlinear":[4,46,121],"mechanical":[5,109],"tendon":[6],"stiffness":[7,23,93],"are":[8,81],"becoming":[9],"more":[10,12,116],"and":[11,21,26,54,71,114,127,135],"popular.":[13],"With":[14],"the":[15,18,22,33,39,52,67,72,82,85,98,105,108,118,125,128],"appropriate":[16],"actuation,":[17],"joint":[19,69,110,129],"position":[20,70],"between":[24,124],"motor":[25,126],"link":[27,130],"side":[28],"can":[29],"be":[30],"prescribed":[31],"at":[32],"same":[34],"time.":[35],"In":[36],"this":[37,79],"paper,":[38],"modeling":[40],"of":[41,66,78,84,101,120],"tendon-driven":[42],"elastic":[43],"systems":[44,90],"couplings":[47],"is":[48,61,131,137],"recapitulated.":[49],"Based":[50],"on":[51],"Immersion":[53],"Invariance":[55],"(I&I)":[56],"framework":[57,87],"a":[58],"control":[59],"law":[60],"developed":[62],"that":[63],"takes":[64],"trajectories":[65],"desired":[68],"pretension":[73],"as":[74],"input.":[75],"The":[76,133],"contribution":[77],"paper":[80],"application":[83],"I&I":[86],"to":[88,96,103],"tendon-controlled":[89],"variable":[92],"which":[94],"requires":[95],"consider":[97],"internal":[99],"degrees":[100],"freedom":[102],"realize":[104],"pretension,":[106],"respectively":[107],"stiffness.":[111],"But":[112],"also,":[113],"even":[115],"importantly,":[117],"handling":[119],"transmission":[122],"elements":[123],"included.":[132],"performance":[134],"sensitivity":[136],"analyzed":[138],"by":[139],"simulating":[140],"an":[141],"antagonistically":[142],"driven":[143],"robot":[144],"joint.":[145]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}