{"id":"https://openalex.org/W4387678097","doi":"https://doi.org/10.1109/icac57885.2023.10275266","title":"Control Barrier Function-Based Force Constrained Safety Compliance Control for Manipulator","display_name":"Control Barrier Function-Based Force Constrained Safety Compliance Control for Manipulator","publication_year":2023,"publication_date":"2023-08-30","ids":{"openalex":"https://openalex.org/W4387678097","doi":"https://doi.org/10.1109/icac57885.2023.10275266"},"language":"en","primary_location":{"id":"doi:10.1109/icac57885.2023.10275266","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icac57885.2023.10275266","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 28th International Conference on Automation and Computing (ICAC)","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/A5102428576","display_name":"Haiyan Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haiyan Liang","raw_affiliation_strings":["School of Automation, Southeast University,The Key Laboratory of Measurement and Control of CSE, Ministry of Education,Nanjing,China,210096"],"affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University,The Key Laboratory of Measurement and Control of CSE, Ministry of Education,Nanjing,China,210096","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100643642","display_name":"Xinming Wang","orcid":"https://orcid.org/0000-0002-2491-3117"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinming Wang","raw_affiliation_strings":["School of Automation, Southeast University,The Key Laboratory of Measurement and Control of CSE, Ministry of Education,Nanjing,China,210096"],"affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University,The Key Laboratory of Measurement and Control of CSE, Ministry of Education,Nanjing,China,210096","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048253689","display_name":"Jianliang Mao","orcid":"https://orcid.org/0000-0001-8979-2646"},"institutions":[{"id":"https://openalex.org/I23632641","display_name":"Shanghai University of Electric Power","ror":"https://ror.org/02w4tny03","country_code":"CN","type":"education","lineage":["https://openalex.org/I23632641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianliang Mao","raw_affiliation_strings":["College of Automation Engineering, Shanghai University of Electric Power,Shanghai,PR China,200090"],"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Shanghai University of Electric Power,Shanghai,PR China,200090","institution_ids":["https://openalex.org/I23632641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085139070","display_name":"Jun Yang","orcid":"https://orcid.org/0000-0002-4290-9568"},"institutions":[{"id":"https://openalex.org/I143804889","display_name":"Loughborough University","ror":"https://ror.org/04vg4w365","country_code":"GB","type":"education","lineage":["https://openalex.org/I143804889"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jun Yang","raw_affiliation_strings":["Loughborough University,Department of Aeronautical and Automotive Engineering,Loughborough,UK,LE11 3TU"],"affiliations":[{"raw_affiliation_string":"Loughborough University,Department of Aeronautical and Automotive Engineering,Loughborough,UK,LE11 3TU","institution_ids":["https://openalex.org/I143804889"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5102428576"],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":0.3752,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.59968871,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9973000288009644,"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":0.9855999946594238,"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":0.7938679456710815},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7915089726448059},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6552209854125977},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5636937022209167},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5424327254295349},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5150832533836365},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4568648040294647},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4538603127002716},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.421496719121933},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4158678352832794},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.392113596200943},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.283920019865036},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08283212780952454}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.7938679456710815},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7915089726448059},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6552209854125977},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5636937022209167},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5424327254295349},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5150832533836365},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4568648040294647},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4538603127002716},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.421496719121933},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4158678352832794},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.392113596200943},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.283920019865036},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08283212780952454},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icac57885.2023.10275266","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icac57885.2023.10275266","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 28th International Conference on Automation and Computing (ICAC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8299999833106995}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1811370629","https://openalex.org/W1978023077","https://openalex.org/W2016958754","https://openalex.org/W2066202893","https://openalex.org/W2090348003","https://openalex.org/W2112474089","https://openalex.org/W2135307310","https://openalex.org/W2167808181","https://openalex.org/W2489231587","https://openalex.org/W2588802774","https://openalex.org/W2786350082","https://openalex.org/W2789837488","https://openalex.org/W2968945909","https://openalex.org/W2980333371","https://openalex.org/W3005096802","https://openalex.org/W3095803993","https://openalex.org/W3183388740","https://openalex.org/W4210262114","https://openalex.org/W4313065337","https://openalex.org/W4313066505","https://openalex.org/W6673041762"],"related_works":["https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W2786196354","https://openalex.org/W4295916778","https://openalex.org/W2112995122","https://openalex.org/W4399374581","https://openalex.org/W2165087119","https://openalex.org/W2071387541"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,17,40,57,113,147],"safety-critical":[4],"compliance":[5,82],"control":[6,28],"with":[7,48,60,105],"force":[8,32,87,101,114,124],"constraint":[9,33],"is":[10,34,118,125,138],"proposed":[11,71,136],"for":[12],"the":[13,20,25,30,50,62,67,70,93,97,107,122,132,135],"interaction":[14,31,78],"task":[15],"of":[16,96,109,134],"manipulator":[18],"in":[19],"Cartesian":[21],"space.":[22],"Different":[23],"from":[24],"conventional":[26],"impedance":[27,64],"approach,":[29],"considered":[35],"and":[36,55,143],"interpreted":[37],"by":[38,99,140],"designing":[39],"new":[41],"Force":[42],"Constrained":[43],"Control":[44],"Barrier":[45],"Function":[46],"(FCCBF)":[47],"exploiting":[49],"environment":[51],"model.":[52],"By":[53],"formulating":[54],"solving":[56],"quadratic":[58],"programming":[59],"modifying":[61],"baseline":[63],"controller":[65,72],"under":[66],"FCCBF":[68,116],"constraint,":[69],"can":[73,90],"not":[74],"only":[75],"make":[76],"manipulator's":[77],"process":[79],"satisfy":[80],"expected":[81],"without":[83],"exceeding":[84],"permissible":[85],"contact":[86,123],"range,":[88],"but":[89],"also":[91,119],"improve":[92],"dynamic":[94],"characteristics":[95],"system":[98],"eliminating":[100],"overshooting":[102],"phenomena.":[103],"Furthermore,":[104],"using":[106],"technique":[108],"nonlinear":[110],"disturbance":[111],"observer,":[112],"sensor-less":[115],"approach":[117],"provided,":[120],"where":[121],"treated":[126],"as":[127],"an":[128],"external":[129],"disturbance.":[130],"Finally,":[131],"effectiveness":[133],"algorithms":[137],"verified":[139],"both":[141],"simulations":[142],"experimental":[144],"tests":[145],"on":[146],"6":[148],"degree-of-freedom":[149],"manipulator.":[150]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}
