{"id":"https://openalex.org/W3206093358","doi":"https://doi.org/10.1109/humanoids47582.2021.9555795","title":"Closed-Loop Variable Stiffness Control of Dynamical Systems","display_name":"Closed-Loop Variable Stiffness Control of Dynamical Systems","publication_year":2021,"publication_date":"2021-07-19","ids":{"openalex":"https://openalex.org/W3206093358","doi":"https://doi.org/10.1109/humanoids47582.2021.9555795","mag":"3206093358"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids47582.2021.9555795","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids47582.2021.9555795","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)","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/A5073160661","display_name":"Xiao Chen","orcid":"https://orcid.org/0000-0003-1949-4672"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Xiao Chen","raw_affiliation_strings":["Munich School of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Munich School of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028198901","display_name":"Youssef Michel","orcid":"https://orcid.org/0000-0003-1549-0471"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Youssef Michel","raw_affiliation_strings":["Chair Human-centered Assistance Robots, Faculty of Electrical Engineering and Information Engineering, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Chair Human-centered Assistance Robots, Faculty of Electrical Engineering and Information Engineering, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088081800","display_name":"Dongheui Lee","orcid":"https://orcid.org/0000-0003-1897-7664"},"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"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dongheui Lee","raw_affiliation_strings":["Chair Human-centered Assistance Robots, Faculty of Electrical Engineering and Information Engineering, Technical University of Munich, Munich, Germany","German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Chair Human-centered Assistance Robots, Faculty of Electrical Engineering and Information Engineering, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5073160661"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.4148,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.61944179,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"163","last_page":"169"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9991000294685364,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9988999962806702,"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/stiffness","display_name":"Stiffness","score":0.783967137336731},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7465720772743225},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.636080265045166},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.49468013644218445},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46161162853240967},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4455222487449646},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4347415566444397},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.4200117290019989},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2793678641319275},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23760443925857544},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23534342646598816},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21486321091651917},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18930047750473022},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.11109891533851624},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.09896156191825867}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.783967137336731},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7465720772743225},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.636080265045166},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.49468013644218445},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46161162853240967},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4455222487449646},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4347415566444397},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.4200117290019989},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2793678641319275},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23760443925857544},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23534342646598816},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21486321091651917},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18930047750473022},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.11109891533851624},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.09896156191825867}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/humanoids47582.2021.9555795","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids47582.2021.9555795","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:147180","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/9555795","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzbeitrag"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1710596","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1710596","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320325698","display_name":"Helmholtz Association","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W130216483","https://openalex.org/W1682895868","https://openalex.org/W1967377907","https://openalex.org/W1969976050","https://openalex.org/W2057538835","https://openalex.org/W2100856460","https://openalex.org/W2129202194","https://openalex.org/W2154777391","https://openalex.org/W2159721734","https://openalex.org/W2244449411","https://openalex.org/W2284232578","https://openalex.org/W2295809278","https://openalex.org/W2296438681","https://openalex.org/W2327315597","https://openalex.org/W2331138946","https://openalex.org/W2606499982","https://openalex.org/W2740826260","https://openalex.org/W2803152746","https://openalex.org/W2884325870","https://openalex.org/W2903097876","https://openalex.org/W3003907021","https://openalex.org/W3044355296","https://openalex.org/W3089719272","https://openalex.org/W3103190791","https://openalex.org/W3113128756","https://openalex.org/W3137783376","https://openalex.org/W4246215071"],"related_works":["https://openalex.org/W585100505","https://openalex.org/W1993699589","https://openalex.org/W4386004832","https://openalex.org/W2317038355","https://openalex.org/W2508382938","https://openalex.org/W1978561773","https://openalex.org/W2172274897","https://openalex.org/W1568936204","https://openalex.org/W1500387900","https://openalex.org/W2318120411"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,115],"present":[4],"an":[5,81],"approach":[6,40,90,118],"to":[7],"encode":[8],"variable":[9],"stiffness":[10,37,127],"behaviors":[11],"into":[12],"Dynamical":[13],"Systems":[14],"(DS),":[15],"controlled":[16],"in":[17,93,96,106,119],"a":[18,22,28,35,42,61,67,101,120],"closed-loop":[19],"configuration.":[20],"Given":[21],"desired":[23,36,87],"robot":[24,53,59,98],"motion":[25,54],"represented":[26],"as":[27,32,34],"first":[29],"order":[30],"DS,":[31,44],"well":[33],"profile,":[38],"our":[39,117],"generates":[41],"new":[43],"called":[45],"Variable":[46],"Stiffness":[47],"DS":[48,79],"(VSDS),":[49],"that":[50,123],"controls":[51],"the":[52,74,78,86,107],"and":[55,95,103],"impedance":[56],"simultaneously.":[57],"The":[58],"shows":[60],"symmetric":[62],"spring-like":[63],"attraction":[64],"behavior":[65,83],"around":[66],"reference":[68],"path":[69],"described":[70],"by":[71,85],"one":[72],"of":[73,77,109],"integral":[75],"curves":[76],"with":[80],"interactive":[82],"prescribed":[84],"stiffness.":[88],"Our":[89],"is":[91],"validated":[92],"simulations":[94],"real":[97],"experiments,":[99],"displaying":[100],"safe":[102],"compliant":[104],"interaction":[105],"face":[108],"disturbances":[110],"or":[111],"possible":[112],"collisions.":[113],"Furthermore,":[114],"validate":[116],"contact":[121],"task":[122],"requires":[124],"continuously":[125],"varying":[126],"levels.":[128]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":3}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}