{"id":"https://openalex.org/W2081438716","doi":"https://doi.org/10.1109/cdc.2012.6426910","title":"Time-varying force tracking in impedance control","display_name":"Time-varying force tracking in impedance control","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W2081438716","doi":"https://doi.org/10.1109/cdc.2012.6426910","mag":"2081438716"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2012.6426910","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2012.6426910","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE 51st 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/A5100407922","display_name":"Wenkang Xu","orcid":"https://orcid.org/0000-0003-0097-5062"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenkang Xu","raw_affiliation_strings":["School of Automation, Nanjing University of Science and Technology, Nanjing, China","School of Automation, Nanjing University of Science and Technology, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]},{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071657969","display_name":"Chenxiao Cai","orcid":"https://orcid.org/0000-0003-0639-4437"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenxiao Cai","raw_affiliation_strings":["School of Automation, Nanjing University of Science and Technology, Nanjing, China","School of Automation, Nanjing University of Science and Technology, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]},{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023934167","display_name":"Minghui Yin","orcid":"https://orcid.org/0000-0001-9966-9879"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minghui Yin","raw_affiliation_strings":["School of Automation, Nanjing University of Science and Technology, Nanjing, China","School of Automation, Nanjing University of Science and Technology, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]},{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058138487","display_name":"Yun Zou","orcid":"https://orcid.org/0000-0001-8408-4114"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun Zou","raw_affiliation_strings":["School of Automation, Nanjing University of Science and Technology, Nanjing, China","School of Automation, Nanjing University of Science and Technology, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]},{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, China","institution_ids":["https://openalex.org/I36399199"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.2738,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.89523475,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"344","last_page":"349"},"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":0.9976000189781189,"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":0.9783999919891357,"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":0.8605018854141235},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8292058706283569},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6885291337966919},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6371403932571411},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6244578957557678},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5729290246963501},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.54240483045578},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5403386354446411},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5219537615776062},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5037223696708679},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.4563271999359131},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4548412561416626},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.42897939682006836},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41754236817359924},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4150294363498688},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38134557008743286},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2825407385826111},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11537259817123413},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11099261045455933},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.09778258204460144},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.06487560272216797}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.8605018854141235},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8292058706283569},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6885291337966919},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6371403932571411},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6244578957557678},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5729290246963501},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.54240483045578},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5403386354446411},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5219537615776062},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5037223696708679},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.4563271999359131},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4548412561416626},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.42897939682006836},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41754236817359924},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4150294363498688},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38134557008743286},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2825407385826111},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11537259817123413},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11099261045455933},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.09778258204460144},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.06487560272216797},{"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2012.6426910","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2012.6426910","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","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":19,"referenced_works":["https://openalex.org/W1951296436","https://openalex.org/W1967377907","https://openalex.org/W2014530840","https://openalex.org/W2016958754","https://openalex.org/W2019109662","https://openalex.org/W2095771390","https://openalex.org/W2105660272","https://openalex.org/W2120356183","https://openalex.org/W2121024843","https://openalex.org/W2121693658","https://openalex.org/W2133193265","https://openalex.org/W2135307310","https://openalex.org/W2145408377","https://openalex.org/W2150446927","https://openalex.org/W2155829031","https://openalex.org/W2300300676","https://openalex.org/W3003414503","https://openalex.org/W3184763910","https://openalex.org/W6678295422"],"related_works":["https://openalex.org/W2372856383","https://openalex.org/W1934622834","https://openalex.org/W2015036175","https://openalex.org/W2005085248","https://openalex.org/W2534107666","https://openalex.org/W2117933783","https://openalex.org/W4288391497","https://openalex.org/W2560479139","https://openalex.org/W2043000245","https://openalex.org/W2103496243"],"abstract_inverted_index":{"Compared":[0],"with":[1,48],"the":[2,8,20,49,65,71,74,87,90],"general":[3],"compliance":[4],"control":[5,27,45,58],"problem":[6],"where":[7],"manipulator-environment":[9],"interaction":[10,22],"force":[11,23,44,99],"is":[12,28,60,78],"often":[13],"assumed":[14],"to":[15,63,85],"be":[16],"a":[17,31],"fixed":[18],"value,":[19],"time-varying":[21,43],"within":[24],"position-based":[25],"impedance":[26,54],"studied":[29],"on":[30,42],"2-joint":[32],"robot":[33],"manipulator.":[34],"Exploration":[35],"of":[36,51,70,89],"theoretical":[37],"analysis":[38,77],"and":[39,68,73,98],"tentative":[40],"improvements":[41,50],"are":[46,83],"proposed":[47,92],"traditional":[52],"target":[53],"model.":[55],"An":[56],"adaptive":[57],"algorithm":[59],"additionally":[61],"introduced":[62],"identify":[64],"uncertain":[66],"location":[67],"stiffness":[69],"environment,":[72],"Lyapunov-based":[75],"stability":[76],"also":[79],"given.":[80],"Finally,":[81],"Simulations":[82],"performed":[84],"verify":[86],"efficacy":[88],"newly":[91],"methods":[93],"in":[94],"both":[95],"trajectory":[96],"tracking":[97],"control.":[100]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}