{"id":"https://openalex.org/W4205140709","doi":"https://doi.org/10.1109/icar53236.2021.9659443","title":"Energy-aware adaptive impedance control using offline task-based optimization","display_name":"Energy-aware adaptive impedance control using offline task-based optimization","publication_year":2021,"publication_date":"2021-12-06","ids":{"openalex":"https://openalex.org/W4205140709","doi":"https://doi.org/10.1109/icar53236.2021.9659443"},"language":"en","primary_location":{"id":"doi:10.1109/icar53236.2021.9659443","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar53236.2021.9659443","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 20th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5045235675","display_name":"Bart Gerlagh","orcid":null},"institutions":[{"id":"https://openalex.org/I4210094006","display_name":"Ramboll (Germany)","ror":"https://ror.org/01ftjhs10","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210094006","https://openalex.org/I4210096927"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bart Gerlagh","raw_affiliation_strings":["RaM group"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RaM group","institution_ids":["https://openalex.org/I4210094006"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075056195","display_name":"Federico Califano","orcid":"https://orcid.org/0000-0001-8693-0900"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Federico Califano","raw_affiliation_strings":["Robotics and Mechatronics (RaM) group, University of Twente, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics (RaM) group, University of Twente, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047812798","display_name":"Stefano Stramigioli","orcid":"https://orcid.org/0000-0001-8212-7387"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Stefano Stramigioli","raw_affiliation_strings":["Robotics and Mechatronics (RaM) group, University of Twente, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics (RaM) group, University of Twente, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039681112","display_name":"Wesley Roozing","orcid":"https://orcid.org/0000-0002-7991-3704"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Wesley Roozing","raw_affiliation_strings":["Robotics and Mechatronics (RaM) group, University of Twente, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics (RaM) group, University of Twente, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9973000288009644,"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":0.9973000288009644,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9919000267982483,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9886999726295471,"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/impedance-control","display_name":"Impedance control","score":0.8090736269950867},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6604859232902527},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6444659233093262},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5947836637496948},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5726348161697388},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5410126447677612},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5171194076538086},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5154781937599182},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4439226984977722},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.44330620765686035},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.43379008769989014},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38125938177108765},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32554173469543457},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31520628929138184},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2729371190071106},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24392426013946533}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.8090736269950867},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6604859232902527},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6444659233093262},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5947836637496948},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5726348161697388},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5410126447677612},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5171194076538086},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5154781937599182},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4439226984977722},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.44330620765686035},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.43379008769989014},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38125938177108765},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32554173469543457},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31520628929138184},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2729371190071106},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24392426013946533},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icar53236.2021.9659443","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar53236.2021.9659443","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 20th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},{"id":"pmh:oai:ris.utwente.nl:openaire_cris_publications/67fe6ff6-d36a-4232-a2f7-40c1f08382dc","is_oa":false,"landing_page_url":"https://research.utwente.nl/en/publications/67fe6ff6-d36a-4232-a2f7-40c1f08382dc","pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","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":"Gerlagh, B, Califano, F, Stramigioli, S & Roozing, W 2022, Energy-aware adaptive impedance control using offline task-based optimization. in 2021 20th International Conference on Advanced Robotics, ICAR 2021. IEEE, pp. 187-194, 20th International Conference on Advanced Robotics, ICAR 2021, Ljubljana, Slovenia, 6/12/21. https://doi.org/10.1109/ICAR53236.2021.9659443","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:ris.utwente.nl:publications/67fe6ff6-d36a-4232-a2f7-40c1f08382dc","is_oa":false,"landing_page_url":"http://www.scopus.com/inward/record.url?scp=85124689731&partnerID=8YFLogxK","pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Gerlagh , B , Califano , F , Stramigioli , S & Roozing , W 2022 , Energy-aware adaptive impedance control using offline task-based optimization . in 2021 20th International Conference on Advanced Robotics, ICAR 2021 . IEEE , pp. 187-194 , 20th International Conference on Advanced Robotics, ICAR 2021 , Ljubljana , Slovenia , 6/12/21 . https://doi.org/10.1109/ICAR53236.2021.9659443","raw_type":"contributionToPeriodical"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.8100000023841858,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W133766508","https://openalex.org/W1967377907","https://openalex.org/W2042092414","https://openalex.org/W2080487795","https://openalex.org/W2111528514","https://openalex.org/W2115406409","https://openalex.org/W2122139236","https://openalex.org/W2146892985","https://openalex.org/W2150024155","https://openalex.org/W2168650125","https://openalex.org/W2202088841","https://openalex.org/W2300435054","https://openalex.org/W2615167078","https://openalex.org/W2786369902","https://openalex.org/W2893929921","https://openalex.org/W2966182590","https://openalex.org/W2980511619","https://openalex.org/W3089922686","https://openalex.org/W6769295639","https://openalex.org/W6893736039"],"related_works":["https://openalex.org/W4233304828","https://openalex.org/W3131110707","https://openalex.org/W2716370379","https://openalex.org/W2314048082","https://openalex.org/W1548357495","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W4295916778","https://openalex.org/W2112995122","https://openalex.org/W2165087119"],"abstract_inverted_index":{"Robotic":[0],"tasks":[1,27],"involving":[2],"interaction":[3],"with":[4,42],"an":[5,38,47,53],"environment":[6],"are":[7],"commonly":[8],"addressed":[9],"by":[10,23,79],"means":[11,80],"of":[12,18,37,81],"impedance":[13,39],"control.":[14],"Under":[15],"the":[16,68,73,104],"framework":[17],"energy-aware":[19],"robotics,":[20],"and":[21,65,71],"motivated":[22],"evidence":[24],"that":[25],"many":[26],"benefit":[28],"from":[29,67],"variable":[30],"impedance,":[31,44],"we":[32],"leverage":[33],"a":[34,84,96,100],"geometric":[35],"formulation":[36],"controlled":[40],"manipulator":[41],"time-varying":[43],"to":[45,51],"design":[46],"optimisation":[48],"problem":[49],"able":[50],"produce":[52],"open-loop,":[54],"task-based":[55],"control":[56,74],"action.":[57],"A":[58],"feedback":[59],"controller":[60],"accounts":[61],"for":[62],"model":[63],"variations":[64],"disturbances":[66],"nominal":[69],"task":[70,92,102],"completes":[72],"strategy.":[75],"Beyond":[76],"achieving":[77],"passivity":[78],"energy":[82,86],"tanks,":[83],"novel":[85],"budgeting":[87],"protocol":[88],"ensures":[89],"safety":[90],"along":[91],"execution.":[93],"Simulations":[94],"on":[95],"5-DoF":[97],"robot":[98],"executing":[99],"peg-in-hole":[101],"validate":[103],"approach.":[105]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}