{"id":"https://openalex.org/W2046521491","doi":"https://doi.org/10.1109/icar.2013.6766514","title":"A robust manipulation strategy based on impedance control parameters changes and smooth trajectories","display_name":"A robust manipulation strategy based on impedance control parameters changes and smooth trajectories","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2046521491","doi":"https://doi.org/10.1109/icar.2013.6766514","mag":"2046521491"},"language":"en","primary_location":{"id":"doi:10.1109/icar.2013.6766514","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2013.6766514","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 16th International Conference on Advanced Robotics (ICAR)","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/A5084716534","display_name":"Leonardo M. Pedro","orcid":"https://orcid.org/0000-0002-1730-943X"},"institutions":[{"id":"https://openalex.org/I177909021","display_name":"Universidade Federal de S\u00e3o Carlos","ror":"https://ror.org/00qdc6m37","country_code":"BR","type":"education","lineage":["https://openalex.org/I177909021"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Leonardo M. Pedro","raw_affiliation_strings":["Center for Exact Sciences and Technology, Federal University of S\u00e3o Carlos - UFSCar, Brazil","Center for Exact Sci. & Technol., Fed. Univ. of Sao Carlos - UFSCar, Sao Carlos, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Exact Sciences and Technology, Federal University of S\u00e3o Carlos - UFSCar, Brazil","institution_ids":["https://openalex.org/I177909021"]},{"raw_affiliation_string":"Center for Exact Sci. & Technol., Fed. Univ. of Sao Carlos - UFSCar, Sao Carlos, Brazil","institution_ids":["https://openalex.org/I177909021"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055007049","display_name":"Guilherme Fernandes","orcid":"https://orcid.org/0000-0002-4105-7631"},"institutions":[{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["BR","CH"],"is_corresponding":false,"raw_author_name":"Guilherme Fernandes","raw_affiliation_strings":["Mechanical Engineering Department, ETH, Z\u00fcrich, Switzerland","[Engineering School of Sao Carlos, University of S\u00e3o Paulo, Sao Paulo, Brazil]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, ETH, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"[Engineering School of Sao Carlos, University of S\u00e3o Paulo, Sao Paulo, Brazil]","institution_ids":["https://openalex.org/I17974374"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074425621","display_name":"Marius St\u00fccheli","orcid":"https://orcid.org/0000-0002-7555-5276"},"institutions":[{"id":"https://openalex.org/I177909021","display_name":"Universidade Federal de S\u00e3o Carlos","ror":"https://ror.org/00qdc6m37","country_code":"BR","type":"education","lineage":["https://openalex.org/I177909021"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["BR","CH"],"is_corresponding":false,"raw_author_name":"Marius Stucheli","raw_affiliation_strings":["Center for Exact Sciences and Technology, Federal University of S\u00e3o Carlos - UFSCar, Brazil","Mech. Eng. Dept., ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Exact Sciences and Technology, Federal University of S\u00e3o Carlos - UFSCar, Brazil","institution_ids":["https://openalex.org/I177909021"]},{"raw_affiliation_string":"Mech. Eng. Dept., ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067208024","display_name":"Adriano A. G. Siqueira","orcid":"https://orcid.org/0000-0003-0663-156X"},"institutions":[{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Adriano A. G. Siqueira","raw_affiliation_strings":["the Mechatronics Laboratory, University of S\u00e3o Paulo, Brazil","[Engineering School of Sao Carlos, University of S\u00e3o Paulo, Sao Paulo, Brazil]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"the Mechatronics Laboratory, University of S\u00e3o Paulo, Brazil","institution_ids":["https://openalex.org/I17974374"]},{"raw_affiliation_string":"[Engineering School of Sao Carlos, University of S\u00e3o Paulo, Sao Paulo, Brazil]","institution_ids":["https://openalex.org/I17974374"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113578620","display_name":"Glauco A. P. Caurin","orcid":"https://orcid.org/0000-0003-0898-1379"},"institutions":[{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Glauco A. P. Caurin","raw_affiliation_strings":["the Mechatronics Laboratory, University of S\u00e3o Paulo, Brazil","[Engineering School of Sao Carlos, University of S\u00e3o Paulo, Sao Paulo, Brazil]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"the Mechatronics Laboratory, University of S\u00e3o Paulo, Brazil","institution_ids":["https://openalex.org/I17974374"]},{"raw_affiliation_string":"[Engineering School of Sao Carlos, University of S\u00e3o Paulo, Sao Paulo, Brazil]","institution_ids":["https://openalex.org/I17974374"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.018,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.80939711,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"38","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":1.0,"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":1.0,"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":0.9977999925613403,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9955999851226807,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7458043098449707},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.7153593301773071},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6455736756324768},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.6054933667182922},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5757359266281128},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5475373268127441},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5272737145423889},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4969067871570587},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4116540253162384},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.33738091588020325},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32408350706100464},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20570850372314453},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.0664733350276947}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7458043098449707},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.7153593301773071},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6455736756324768},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.6054933667182922},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5757359266281128},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5475373268127441},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5272737145423889},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4969067871570587},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4116540253162384},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33738091588020325},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32408350706100464},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20570850372314453},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0664733350276947},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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":1,"locations":[{"id":"doi:10.1109/icar.2013.6766514","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2013.6766514","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 16th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320997","display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo","ror":"https://ror.org/02ddkpn78"},{"id":"https://openalex.org/F4320322025","display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","ror":"https://ror.org/03swz6y49"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1486720721","https://openalex.org/W1571443838","https://openalex.org/W1951296436","https://openalex.org/W1965574731","https://openalex.org/W1991683753","https://openalex.org/W2016958754","https://openalex.org/W2031303707","https://openalex.org/W2083979662","https://openalex.org/W2096051543","https://openalex.org/W2112036576","https://openalex.org/W2113023836","https://openalex.org/W2117385496","https://openalex.org/W2120702530","https://openalex.org/W2123079020","https://openalex.org/W2126701792","https://openalex.org/W2130351752","https://openalex.org/W2149678252","https://openalex.org/W2150138180","https://openalex.org/W2155829031","https://openalex.org/W2158136558","https://openalex.org/W2996830232","https://openalex.org/W4232027764","https://openalex.org/W4236895009","https://openalex.org/W6641617661"],"related_works":["https://openalex.org/W585100505","https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W4295916778","https://openalex.org/W2112995122","https://openalex.org/W2165087119","https://openalex.org/W2121208270","https://openalex.org/W2785665096"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,26,91,120],"new":[4],"manipulation":[5,32,61,135],"strategy":[6],"that":[7,87],"combines":[8],"smooth":[9,85],"trajectories":[10,86],"with":[11,41,115],"an":[12,116],"impedance":[13,56],"controller":[14],"which":[15],"parameters":[16,72],"are":[17,88],"adapted":[18],"in":[19,39,52],"time":[20],"of":[21,73,84,108,132],"execution.":[22],"The":[23,54],"proposal":[24],"uses":[25],"single":[27],"control":[28],"law":[29],"during":[30,45,58],"all":[31],"phases,":[33],"i.e.":[34],"when":[35,47],"the":[36,42,48,59,74,82,100,106,130,133],"robot":[37,49],"is":[38,65,78],"contact":[40,110],"object,":[43],"and":[44,63,70,93,128],"regrasping":[46],"moves":[50],"freely":[51],"space.":[53],"manipulator":[55,118],"changes":[57],"different":[60],"phases":[62],"this":[64],"achieved":[66],"modifying":[67],"mass,":[68],"stiffness":[69],"damping":[71],"controller.":[75],"Controller":[76],"stability":[77],"further":[79],"enhanced":[80],"by":[81],"adoption":[83],"generated":[89],"using":[90],"compact":[92],"computationally":[94],"light":[95],"Squeezed":[96],"Screws":[97],"Planner.":[98],"Additionally,":[99],"approach":[101],"shows":[102],"good":[103],"response":[104],"to":[105],"occurrence":[107],"unplanned":[109],"or":[111],"collisions.":[112],"Experimental":[113],"results":[114],"industrial":[117],"unscrewing":[119],"jar":[121],"cap,":[122],"provides":[123],"interesting":[124],"data":[125],"about":[126],"performance":[127],"show":[129],"benefits":[131],"adopted":[134],"strategy.":[136]},"counts_by_year":[{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}