{"id":"https://openalex.org/W2972195417","doi":"https://doi.org/10.1109/icar46387.2019.8981661","title":"Multi-DoF Time Domain Passivity Approach Based Drift Compensation for Telemanipulation","display_name":"Multi-DoF Time Domain Passivity Approach Based Drift Compensation for Telemanipulation","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W2972195417","doi":"https://doi.org/10.1109/icar46387.2019.8981661","mag":"2972195417"},"language":"en","primary_location":{"id":"doi:10.1109/icar46387.2019.8981661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar46387.2019.8981661","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 19th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1909.01603","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076030909","display_name":"Andre Coelho","orcid":"https://orcid.org/0000-0002-0917-5574"},"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"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andre Coelho","raw_affiliation_strings":["Institute of Robotics and Mechatronics of the German Aerospace Center (DLR), Oberpfaffenhofen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics of the German Aerospace Center (DLR), Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048539897","display_name":"Christian Ott","orcid":"https://orcid.org/0000-0003-0987-7493"},"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"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Ott","raw_affiliation_strings":["Institute of Robotics and Mechatronics of the German Aerospace Center (DLR), Oberpfaffenhofen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics of the German Aerospace Center (DLR), Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061291919","display_name":"Harsimran Singh","orcid":"https://orcid.org/0000-0002-6735-9945"},"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"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Harsimran Singh","raw_affiliation_strings":["Institute of Robotics and Mechatronics of the German Aerospace Center (DLR), Oberpfaffenhofen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics of the German Aerospace Center (DLR), Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078821164","display_name":"Fernando Lizarralde","orcid":"https://orcid.org/0000-0003-0884-5940"},"institutions":[{"id":"https://openalex.org/I122140584","display_name":"Universidade Federal do Rio de Janeiro","ror":"https://ror.org/03490as77","country_code":"BR","type":"education","lineage":["https://openalex.org/I122140584"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Fernando Lizarralde","raw_affiliation_strings":["Department of Electrical Engineering, COPPE, Federal University of Rio de Janeiro (UFRJ), Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, COPPE, Federal University of Rio de Janeiro (UFRJ), Brazil","institution_ids":["https://openalex.org/I122140584"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108078580","display_name":"Konstantin Kondak","orcid":null},"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"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Konstantin Kondak","raw_affiliation_strings":["Institute of Robotics and Mechatronics of the German Aerospace Center (DLR), Oberpfaffenhofen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics of the German Aerospace Center (DLR), Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4827,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.80577867,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"695","last_page":"701"},"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/T13885","display_name":"Geophysics and Sensor Technology","score":0.9520000219345093,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9240999817848206,"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/passivity","display_name":"Passivity","score":0.9399007558822632},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8850009441375732},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.699987530708313},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6568334698677063},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6189691424369812},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5236594080924988},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.49689343571662903},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.4824248254299164},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.42477548122406006},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3917919993400574},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35388949513435364},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21019864082336426},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19404366612434387},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.1432894766330719},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11499613523483276},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10273376107215881}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.9399007558822632},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8850009441375732},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.699987530708313},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6568334698677063},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6189691424369812},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5236594080924988},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.49689343571662903},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.4824248254299164},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.42477548122406006},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3917919993400574},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35388949513435364},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21019864082336426},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19404366612434387},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.1432894766330719},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11499613523483276},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10273376107215881},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icar46387.2019.8981661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar46387.2019.8981661","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 19th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:132795","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ICAR46387.2019.8981661>.","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":null,"raw_type":"PeerReviewed"},{"id":"pmh:oai:arXiv.org:1909.01603","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.01603","pdf_url":"https://arxiv.org/pdf/1909.01603","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:zenodo.org:3564902","is_oa":true,"landing_page_url":"https://zenodo.org/record/3564902","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/technicalDocumentation"},{"id":"doi:10.5281/zenodo.3564902","is_oa":true,"landing_page_url":"https://doi.org/10.5281/zenodo.3564902","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1909.01603","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.01603","pdf_url":"https://arxiv.org/pdf/1909.01603","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/17","score":0.550000011920929,"display_name":"Partnerships for the goals"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1502308290","https://openalex.org/W1564897360","https://openalex.org/W1568602226","https://openalex.org/W2002529332","https://openalex.org/W2004685661","https://openalex.org/W2014317256","https://openalex.org/W2098393146","https://openalex.org/W2109322236","https://openalex.org/W2124237013","https://openalex.org/W2135464393","https://openalex.org/W2153631465","https://openalex.org/W2158101797","https://openalex.org/W2159479148","https://openalex.org/W2419152648","https://openalex.org/W2560970536","https://openalex.org/W2561111412","https://openalex.org/W2884519094","https://openalex.org/W2909468150","https://openalex.org/W2967319184","https://openalex.org/W3102817735","https://openalex.org/W3144507692","https://openalex.org/W3147033676","https://openalex.org/W4249793212","https://openalex.org/W6629917956"],"related_works":["https://openalex.org/W2090171584","https://openalex.org/W2141321389","https://openalex.org/W2126456812","https://openalex.org/W2099914424","https://openalex.org/W2063905323","https://openalex.org/W3207600904","https://openalex.org/W2914607567","https://openalex.org/W4390338938","https://openalex.org/W2017331141","https://openalex.org/W1969993920"],"abstract_inverted_index":{"When,":[0],"in":[1,10,61],"addition":[2,62],"to":[3,23,31,53,63,73,112,133,149],"passivity,":[4],"position":[5,42],"synchronization":[6],"is":[7,29,126,136],"also":[8,127],"desired":[9,26],"bilateral":[11],"teleoperation,":[12],"Time":[13],"Domain":[14],"Passivity":[15],"Approach":[16],"(TDPA)":[17],"alone":[18],"might":[19],"not":[20],"be":[21],"able":[22,72],"fulfill":[24],"the":[25,68,75,83,86,119,123],"objective.":[27],"This":[28],"due":[30],"an":[32,106],"undesired":[33],"effect":[34],"caused":[35],"by":[36],"admittance":[37],"type":[38],"passivity":[39],"controllers,":[40],"namely":[41],"drift.":[43],"Previous":[44],"works":[45],"focused":[46],"on":[47,104],"developing":[48],"TDPA-based":[49,110],"drift":[50],"compensation":[51],"methods":[52,70],"solve":[54],"this":[55,101],"issue.":[56],"It":[57],"was":[58,71],"shown":[59,137],"that,":[60],"reducing":[64],"drift,":[65],"one":[66],"of":[67,85,92,108,118,122],"proposed":[69],"keep":[74],"force":[76],"signals":[77],"within":[78],"their":[79],"normal":[80],"range,":[81],"guaranteeing":[82],"safety":[84],"task.":[87],"However,":[88],"no":[89],"multi-DoF":[90,113,134],"treatment":[91],"those":[93],"approaches":[94,111],"has":[95],"been":[96],"addressed.":[97],"In":[98,129],"that":[99],"scope,":[100],"paper":[102],"focuses":[103],"providing":[105],"extension":[107],"previous":[109],"Cartesian-space":[114],"teleoperation.":[115],"An":[116],"analysis":[117],"convergence":[120],"properties":[121],"presented":[124],"method":[125],"provided.":[128],"addition,":[130],"its":[131],"applicability":[132],"devices":[135],"through":[138],"hardware":[139],"experiments":[140],"and":[141],"numerical":[142],"simulation":[143],"with":[144],"round-trip":[145],"time":[146],"delays":[147],"up":[148],"700":[150],"ms.":[151]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2019-09-12T00:00:00"}