{"id":"https://openalex.org/W2041091008","doi":"https://doi.org/10.1109/haptics.2014.6775456","title":"High performance teleoperation by bumpless transfer of robust controllers","display_name":"High performance teleoperation by bumpless transfer of robust controllers","publication_year":2014,"publication_date":"2014-02-01","ids":{"openalex":"https://openalex.org/W2041091008","doi":"https://doi.org/10.1109/haptics.2014.6775456","mag":"2041091008"},"language":"en","primary_location":{"id":"doi:10.1109/haptics.2014.6775456","is_oa":false,"landing_page_url":"https://doi.org/10.1109/haptics.2014.6775456","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE Haptics Symposium (HAPTICS)","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/A5103228763","display_name":"Carlos L\u00f3pez-Mart\u00ednez","orcid":"https://orcid.org/0000-0002-1366-9446"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Cesar A. Lopez Martinez","raw_affiliation_strings":["Department of Mechanical Engineering, Eindhoven University of Technology","Dept. of Mech. Eng., Eindhoven Univ. of Technol., Eindhoven, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Eindhoven University of Technology","institution_ids":["https://openalex.org/I83019370"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Eindhoven Univ. of Technol., Eindhoven, Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033596147","display_name":"Ren\u00e9 van de Molengraft","orcid":"https://orcid.org/0000-0002-5095-4297"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Rene van de Molengraft","raw_affiliation_strings":["Department of Mechanical Engineering, Eindhoven University of Technology","Dept. of Mech. Eng., Eindhoven Univ. of Technol., Eindhoven, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Eindhoven University of Technology","institution_ids":["https://openalex.org/I83019370"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Eindhoven Univ. of Technol., Eindhoven, Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026038138","display_name":"M. Steinbuch","orcid":"https://orcid.org/0000-0002-1469-1696"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Maarten Steinbuch","raw_affiliation_strings":["Department of Mechanical Engineering, Eindhoven University of Technology","Dept. of Mech. Eng., Eindhoven Univ. of Technol., Eindhoven, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Eindhoven University of Technology","institution_ids":["https://openalex.org/I83019370"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Eindhoven Univ. of Technol., Eindhoven, Netherlands","institution_ids":["https://openalex.org/I83019370"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I83019370"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.13628755,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"209","last_page":"214"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9534000158309937,"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/T13885","display_name":"Geophysics and Sensor Technology","score":0.9513000249862671,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/teleoperation","display_name":"Teleoperation","score":0.9729528427124023},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7227097749710083},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.66143798828125},{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.5819127559661865},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5624942779541016},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5090117454528809},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.47669717669487},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4733079671859741},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.45555007457733154},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4311811327934265},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.427154004573822},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.4246237874031067},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35943683981895447},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.302858829498291},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26793330907821655},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22288045287132263},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11413589119911194},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.0835532546043396},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08090248703956604}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9729528427124023},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7227097749710083},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.66143798828125},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.5819127559661865},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5624942779541016},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5090117454528809},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.47669717669487},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4733079671859741},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.45555007457733154},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4311811327934265},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.427154004573822},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.4246237874031067},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35943683981895447},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.302858829498291},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26793330907821655},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22288045287132263},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11413589119911194},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0835532546043396},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08090248703956604},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/haptics.2014.6775456","is_oa":false,"landing_page_url":"https://doi.org/10.1109/haptics.2014.6775456","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE Haptics Symposium (HAPTICS)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.tue.nl:publications/38eec5d9-f402-4eda-b04d-dd35cfaaafa5","is_oa":false,"landing_page_url":"https://research.tue.nl/en/publications/38eec5d9-f402-4eda-b04d-dd35cfaaafa5","pdf_url":null,"source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","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":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lopez Martinez, C A, van de Molengraft, M J G & Steinbuch, M 2014, High performance teleoperation by bumpless transfer of robust controllers. in IEEE Haptics Symposium 2014, HAPTICS 2014, 23-26 February 2014, Houston, Texas., 6775456, IEEE Computer Society, Brussels, pp. 209-214, 2014 IEEE Haptics Symposium, (HAPTICS 2014), Houston, Texas, United States, 23/02/14. https://doi.org/10.1109/HAPTICS.2014.6775456","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:tue:oai:pure.tue.nl:publications/38eec5d9-f402-4eda-b04d-dd35cfaaafa5","is_oa":false,"landing_page_url":"https://research.tue.nl/nl/publications/38eec5d9-f402-4eda-b04d-dd35cfaaafa5","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Haptics Symposium 2014, HAPTICS 2014, 23-26 February 2014, Houston, Texas, 209 - 214","raw_type":"info:eu-repo/semantics/conferencepaper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W4162081","https://openalex.org/W1522161796","https://openalex.org/W1534021399","https://openalex.org/W1552094772","https://openalex.org/W1967073510","https://openalex.org/W1967390389","https://openalex.org/W2000867344","https://openalex.org/W2011472337","https://openalex.org/W2020255928","https://openalex.org/W2023978132","https://openalex.org/W2027300760","https://openalex.org/W2073440116","https://openalex.org/W2099136232","https://openalex.org/W2106146506","https://openalex.org/W2124237013","https://openalex.org/W2124551330","https://openalex.org/W2128076562","https://openalex.org/W2131588967","https://openalex.org/W2164904527","https://openalex.org/W4255694987","https://openalex.org/W6678562567"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W2097059456","https://openalex.org/W817518365","https://openalex.org/W2145103607","https://openalex.org/W2141648055","https://openalex.org/W4367662652","https://openalex.org/W2145960295","https://openalex.org/W2078176643","https://openalex.org/W2013463538","https://openalex.org/W2067221866"],"abstract_inverted_index":{"It":[0],"is":[1,64,71,92],"a":[2,12,33,36,53,110],"challenge":[3],"to":[4,44],"design":[5],"controllers":[6,59],"for":[7],"bilateral":[8],"teleoperation":[9,29],"that":[10],"find":[11],"proper":[13],"balance":[14],"in":[15,60],"the":[16,25,28,102,105],"inherent":[17],"trade-off":[18],"between":[19],"transparency":[20],"and":[21,76,87],"stability.":[22],"Especially,":[23],"when":[24],"environment":[26,82],"of":[27,48,89,104],"system":[30],"varies":[31],"within":[32],"wide":[34],"range,":[35],"single,":[37],"constant":[38],"controller":[39,54,63],"might":[40],"not":[41],"be":[42],"sufficient":[43],"achieve":[45],"desired":[46],"levels":[47],"performance.":[49],"Hence,":[50],"we":[51],"propose":[52],"scheme":[55],"with":[56],"multiple":[57],"robust":[58],"which":[61],"every":[62],"performance-optimized":[65],"separately.":[66],"The":[67],"switching":[68],"among":[69],"them":[70],"based":[72],"on":[73,109],"bumpless":[74],"transfer":[75],"they":[77],"are":[78],"scheduled":[79],"using":[80],"an":[81],"stiffness":[83],"estimator.":[84],"Limited":[85],"accuracy":[86],"noise":[88],"such":[90],"estimator":[91],"also":[93],"taken":[94],"into":[95],"account":[96],"during":[97],"control":[98],"design.":[99],"We":[100],"show":[101],"applicability":[103],"approach":[106],"by":[107],"experiments":[108],"1-DOF":[111],"teleoperated":[112],"system.":[113]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-04T07:58:01.006859","created_date":"2025-10-10T00:00:00"}
