{"id":"https://openalex.org/W1963571734","doi":"https://doi.org/10.1109/ecc.2014.6862266","title":"Optimal control of elastic joints with variable damping","display_name":"Optimal control of elastic joints with variable damping","publication_year":2014,"publication_date":"2014-06-01","ids":{"openalex":"https://openalex.org/W1963571734","doi":"https://doi.org/10.1109/ecc.2014.6862266","mag":"1963571734"},"language":"en","primary_location":{"id":"doi:10.1109/ecc.2014.6862266","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecc.2014.6862266","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1438584","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035296404","display_name":"Mehmet Can \u00d6zparpucu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210159778","display_name":"National Research Council Canada","ror":"https://ror.org/04mte1k06","country_code":"CA","type":"government","lineage":["https://openalex.org/I4210159778"]},{"id":"https://openalex.org/I4210130650","display_name":"Institute for Microstructural Sciences","ror":"https://ror.org/03v7h1165","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210130650","https://openalex.org/I4210159778"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Mehmet Can Ozparpucu","raw_affiliation_strings":["Institute for Microstructural Sciences, National Research Council Canada, Ottawa, Canada","Institute for Microstructural Sciences National Research Council Canada,Ottawa,Canada"],"affiliations":[{"raw_affiliation_string":"Institute for Microstructural Sciences, National Research Council Canada, Ottawa, Canada","institution_ids":["https://openalex.org/I4210130650","https://openalex.org/I4210159778"]},{"raw_affiliation_string":"Institute for Microstructural Sciences National Research Council Canada,Ottawa,Canada","institution_ids":["https://openalex.org/I4210130650","https://openalex.org/I4210159778"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[{"id":"https://openalex.org/I4210130650","display_name":"Institute for Microstructural Sciences","ror":"https://ror.org/03v7h1165","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210130650","https://openalex.org/I4210159778"]},{"id":"https://openalex.org/I4210159778","display_name":"National Research Council Canada","ror":"https://ror.org/04mte1k06","country_code":"CA","type":"government","lineage":["https://openalex.org/I4210159778"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Institute for Microstructural Sciences, National Research Council Canada, Ottawa, Canada","Institute for Microstructural Sciences National Research Council Canada,Ottawa,Canada"],"affiliations":[{"raw_affiliation_string":"Institute for Microstructural Sciences, National Research Council Canada, Ottawa, Canada","institution_ids":["https://openalex.org/I4210130650","https://openalex.org/I4210159778"]},{"raw_affiliation_string":"Institute for Microstructural Sciences National Research Council Canada,Ottawa,Canada","institution_ids":["https://openalex.org/I4210130650","https://openalex.org/I4210159778"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5035296404"],"corresponding_institution_ids":["https://openalex.org/I4210130650","https://openalex.org/I4210159778"],"apc_list":null,"apc_paid":null,"fwci":0.5605,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.66457955,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"37","issue":null,"first_page":"2526","last_page":"2533"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9889000058174133,"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/T11366","display_name":"Elasticity and Material Modeling","score":0.98580002784729,"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/elastic-energy","display_name":"Elastic energy","score":0.7595824003219604},{"id":"https://openalex.org/keywords/elasticity","display_name":"Elasticity (physics)","score":0.708319365978241},{"id":"https://openalex.org/keywords/viscoelasticity","display_name":"Viscoelasticity","score":0.6909009218215942},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5117409229278564},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5075465440750122},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.45770785212516785},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.45666199922561646},{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"Mechanical impedance","score":0.4553958475589752},{"id":"https://openalex.org/keywords/kinetic-energy","display_name":"Kinetic energy","score":0.44132381677627563},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.4407127797603607},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4289504289627075},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.42611774802207947},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.41392451524734497},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36217617988586426},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.32712310552597046},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3241512179374695},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.318662166595459},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.25136855244636536},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23513048887252808},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22401517629623413},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21233347058296204},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1685037612915039},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.12312006950378418}],"concepts":[{"id":"https://openalex.org/C14041564","wikidata":"https://www.wikidata.org/wiki/Q891408","display_name":"Elastic energy","level":2,"score":0.7595824003219604},{"id":"https://openalex.org/C121854251","wikidata":"https://www.wikidata.org/wiki/Q62932","display_name":"Elasticity (physics)","level":2,"score":0.708319365978241},{"id":"https://openalex.org/C186541917","wikidata":"https://www.wikidata.org/wiki/Q910483","display_name":"Viscoelasticity","level":2,"score":0.6909009218215942},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5117409229278564},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5075465440750122},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.45770785212516785},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.45666199922561646},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.4553958475589752},{"id":"https://openalex.org/C135889238","wikidata":"https://www.wikidata.org/wiki/Q46276","display_name":"Kinetic energy","level":2,"score":0.44132381677627563},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.4407127797603607},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4289504289627075},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.42611774802207947},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.41392451524734497},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36217617988586426},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.32712310552597046},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3241512179374695},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.318662166595459},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.25136855244636536},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23513048887252808},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22401517629623413},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21233347058296204},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1685037612915039},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.12312006950378418},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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":3,"locations":[{"id":"doi:10.1109/ecc.2014.6862266","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecc.2014.6862266","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:90221","is_oa":false,"landing_page_url":null,"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":"","raw_type":"Konferenzbeitrag"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1438584","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1438584","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1438584","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1438584","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[{"score":0.8999999761581421,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1503590361","https://openalex.org/W1983639748","https://openalex.org/W1986090102","https://openalex.org/W1994680409","https://openalex.org/W2019679799","https://openalex.org/W2020410108","https://openalex.org/W2111034649","https://openalex.org/W2131326336","https://openalex.org/W2131404784","https://openalex.org/W2169100281","https://openalex.org/W2506536595","https://openalex.org/W6649237359","https://openalex.org/W6654966485"],"related_works":["https://openalex.org/W2364778587","https://openalex.org/W2011737899","https://openalex.org/W2105126143","https://openalex.org/W4320198705","https://openalex.org/W4308480823","https://openalex.org/W2573068166","https://openalex.org/W2904885586","https://openalex.org/W1992974134","https://openalex.org/W1910603216","https://openalex.org/W3003109530"],"abstract_inverted_index":{"Viscoelastic":[0],"joints":[1,32,72,102],"with":[2,73,103],"adjustable":[3,104],"physical":[4,89],"impedance":[5],"have":[6],"recently":[7],"become":[8],"very":[9],"popular":[10],"in":[11,20,67,91],"robotics":[12],"research.":[13],"Making":[14],"use":[15],"of":[16,30,44,82,93,117],"the":[17,45,80,94],"energy":[18,99],"stored":[19],"elastic":[21,27,59,71,118],"elements":[22],"and":[23,97,112],"changing":[24],"simultaneously":[25],"their":[26,41],"properties,":[28],"performance":[29],"these":[31],"are":[33],"shown":[34],"to":[35,40,54,61,101,114],"be":[36],"substantially":[37],"increased":[38],"compared":[39],"rigid":[42],"counterparts":[43],"same":[46],"size.":[47],"After":[48],"our":[49,109],"recent":[50],"results":[51,111],"on":[52,70],"how":[53],"optimally":[55],"alter":[56],"a":[57,88],"joint's":[58],"property":[60],"maximize":[62],"its":[63],"energy,":[64],"we":[65,78],"focus":[66],"this":[68],"paper":[69],"controllable":[74],"damping.":[75],"In":[76],"particular,":[77],"show":[79],"existence":[81],"optimal":[83],"switching":[84],"patterns,":[85],"which":[86],"follow":[87],"rule":[90],"terms":[92],"obtained":[95],"potential":[96],"kinetic":[98],"similar":[100],"elasticity.":[105],"This":[106],"insight":[107],"complements":[108],"existing":[110],"contributes":[113],"further":[115],"understanding":[116],"robot":[119],"control.":[120]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
