{"id":"https://openalex.org/W1633960869","doi":"https://doi.org/10.1109/coase.2015.7294255","title":"Human-directed robot motion/force control for contact tasks in unstructured environments","display_name":"Human-directed robot motion/force control for contact tasks in unstructured environments","publication_year":2015,"publication_date":"2015-08-01","ids":{"openalex":"https://openalex.org/W1633960869","doi":"https://doi.org/10.1109/coase.2015.7294255","mag":"1633960869"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2015.7294255","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2015.7294255","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Automation Science and Engineering (CASE)","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/A5100366012","display_name":"Lu Lu","orcid":"https://orcid.org/0000-0001-8922-7356"},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]},{"id":"https://openalex.org/I118118575","display_name":"New Jersey Institute of Technology","ror":"https://ror.org/05e74xb87","country_code":"US","type":"education","lineage":["https://openalex.org/I118118575"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Lu Lu","raw_affiliation_strings":["The Department of Mechanical and Industrial Engineering, Rensselaer Polytechnic Institute","[Department of Mechanical and Industrial Engineering, New Jersey Institute of Technology (NJIT)]"],"affiliations":[{"raw_affiliation_string":"The Department of Mechanical and Industrial Engineering, Rensselaer Polytechnic Institute","institution_ids":["https://openalex.org/I165799507"]},{"raw_affiliation_string":"[Department of Mechanical and Industrial Engineering, New Jersey Institute of Technology (NJIT)]","institution_ids":["https://openalex.org/I118118575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074830403","display_name":"John T. Wen","orcid":"https://orcid.org/0000-0002-5123-5411"},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John T. Wen","raw_affiliation_strings":["The Head of the Industrial and Systems Engineering (ISE), Rensselaer Polytechnic Institute","Industrial and Systems Engineering (ISE), Rensselaer Polytechnic Institute"],"affiliations":[{"raw_affiliation_string":"The Head of the Industrial and Systems Engineering (ISE), Rensselaer Polytechnic Institute","institution_ids":["https://openalex.org/I165799507"]},{"raw_affiliation_string":"Industrial and Systems Engineering (ISE), Rensselaer Polytechnic Institute","institution_ids":["https://openalex.org/I165799507"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100366012"],"corresponding_institution_ids":["https://openalex.org/I118118575","https://openalex.org/I165799507"],"apc_list":null,"apc_paid":null,"fwci":1.683,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.85306668,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1165","last_page":"1170"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9990000128746033,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9983999729156494,"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/robot-end-effector","display_name":"Robot end effector","score":0.7066006660461426},{"id":"https://openalex.org/keywords/setpoint","display_name":"Setpoint","score":0.6782971620559692},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6420426368713379},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5915722846984863},{"id":"https://openalex.org/keywords/bang-bang-robot","display_name":"Bang-bang robot","score":0.49750879406929016},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4762673079967499},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4675743877887726},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.43831250071525574},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.43261367082595825},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4145171344280243},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37350016832351685},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3630713224411011},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3386662006378174},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3386232852935791},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3331213593482971},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15329959988594055},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14997529983520508}],"concepts":[{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.7066006660461426},{"id":"https://openalex.org/C12302492","wikidata":"https://www.wikidata.org/wiki/Q1752097","display_name":"Setpoint","level":2,"score":0.6782971620559692},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6420426368713379},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5915722846984863},{"id":"https://openalex.org/C584957","wikidata":"https://www.wikidata.org/wiki/Q4854909","display_name":"Bang-bang robot","level":5,"score":0.49750879406929016},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4762673079967499},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4675743877887726},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.43831250071525574},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.43261367082595825},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4145171344280243},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37350016832351685},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3630713224411011},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3386662006378174},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3386232852935791},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3331213593482971},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15329959988594055},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14997529983520508},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2015.7294255","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2015.7294255","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.46000000834465027,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1508572018","https://openalex.org/W1564897360","https://openalex.org/W1925420674","https://openalex.org/W1965127215","https://openalex.org/W1990281946","https://openalex.org/W1994588561","https://openalex.org/W2016958754","https://openalex.org/W2027995116","https://openalex.org/W2043831253","https://openalex.org/W2052756439","https://openalex.org/W2058782812","https://openalex.org/W2103699968","https://openalex.org/W2104388863","https://openalex.org/W2110015582","https://openalex.org/W2132411220","https://openalex.org/W2132460356","https://openalex.org/W2136970946","https://openalex.org/W2166823041","https://openalex.org/W3217246742"],"related_works":["https://openalex.org/W3044674998","https://openalex.org/W2570672926","https://openalex.org/W2319780154","https://openalex.org/W4378191988","https://openalex.org/W3210882399","https://openalex.org/W2139206564","https://openalex.org/W4242231179","https://openalex.org/W1984186897","https://openalex.org/W1979819035","https://openalex.org/W1854444597"],"abstract_inverted_index":{"In":[0,62,149,164,242],"assistive":[1],"robotics":[2],"for":[3,8,94],"disabled":[4],"individuals":[5],"or":[6,82,145,162],"telerobotics":[7],"remote":[9],"operations,":[10],"the":[11,30,51,59,67,78,91,95,98,107,111,115,121,137,141,146,150,154,159,165,168,172,176,179,182,188,193,200,203,206,220,225,233,243,250,255,275,280,285,292],"human":[12,88,247],"user":[13,89,155,169,248,276],"may":[14,117],"need":[15],"to":[16,134,158,253,269,289],"teleoperate":[17],"a":[18,216,239,246,258],"robot":[19,31,74,112,138,236],"in":[20,50,58,140,171,181],"an":[21],"unstructured":[22],"environment.":[23],"Many":[24],"tasks":[25],"involve":[26],"physical":[27],"contact":[28,99,108,130,147,166,190,211,222],"between":[29,110,205],"end-effector":[32,75,113,160],"and":[33,85,114,210],"environment,":[34],"e.g.,":[35],"cleaning":[36],"window,":[37],"opening":[38],"door,":[39],"etc.":[40],"To":[41,196],"successfully":[42,290],"execute":[43,291],"these":[44],"tasks,":[45],"force":[46,100,109,131,194,223,267,281],"control":[47,57,72],"is":[48,101,125,132,139,213,230],"required":[49],"constrained":[52,183],"direction":[53,174],"together":[54],"with":[55,77,80,219],"position":[56,161],"complementary":[60],"direction.":[61],"this":[63],"paper,":[64],"we":[65],"consider":[66],"problem":[68],"of":[69,73],"human-directed":[70],"position/force":[71],"interacting":[76],"environment":[79,116],"unknown":[81],"uncertain":[83],"geometry":[84],"stiffness.":[86],"The":[87,128,227],"supplies":[90],"motion":[92,288],"command":[93,156],"end-effector,":[96],"while":[97,178,283],"autonomously":[102],"regulated.":[103],"We":[104,272],"assume":[105],"that":[106,274],"be":[118,270],"measured,":[119],"but":[120],"exact":[122],"geometric":[123],"relationship":[124],"not":[126],"available.":[127],"measured":[129,189,221],"used":[133],"determine":[135],"if":[136],"free":[142,151,207],"space":[143,152,208],"mode":[144,209,212],"mode.":[148],"mode,":[153,167],"translates":[157],"velocity.":[163],"input":[170,180],"unconstrained":[173],"specifies":[175],"motion,":[177],"direction,":[184],"as":[185,224],"determined":[186],"by":[187,215],"force,":[191],"changes":[192],"setpoint.":[195],"avoid":[197],"chattering":[198],"around":[199],"constraint":[201],"boundary,":[202],"transition":[204],"governed":[214],"hysteresis":[217],"function":[218],"input.":[226],"proposed":[228],"approach":[229],"implemented":[231],"on":[232,238,257],"dual-arm":[234],"Baxter":[235],"mounted":[237],"mobile":[240,251],"base.":[241],"experiment":[244],"demonstration,":[245],"commands":[249],"manipulator":[252],"erase":[254],"letters":[256],"white":[259],"board.":[260],"For":[261],"thorough":[262],"board":[263],"erasure,":[264],"sufficient":[265],"normal":[266],"needs":[268],"applied.":[271],"show":[273],"can":[277],"easily":[278],"adjust":[279],"setpoint":[282],"commanding":[284],"end":[286],"effector":[287],"task.":[293]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}