{"id":"https://openalex.org/W7125507369","doi":"https://doi.org/10.1109/icar65334.2025.11338735","title":"Nonlinear Disturbance Observer Based Force Control for the Hydraulic Actuator of the HyQ Robot","display_name":"Nonlinear Disturbance Observer Based Force Control for the Hydraulic Actuator of the HyQ Robot","publication_year":2025,"publication_date":"2025-12-02","ids":{"openalex":"https://openalex.org/W7125507369","doi":"https://doi.org/10.1109/icar65334.2025.11338735"},"language":null,"primary_location":{"id":"doi:10.1109/icar65334.2025.11338735","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar65334.2025.11338735","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 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/A5015135066","display_name":"Lucca Maitan","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Lucca Maitan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093976982","display_name":"Elisa G. Vergamini","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Elisa G. Vergamini","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093976983","display_name":"C\u00edcero Zanette","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"C\u00edcero Zanette","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123707746","display_name":"Leonardo F. Santos","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Leonardo F. Santos","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123710699","display_name":"H\u00e9lio J. Cruz Neto","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"H\u00e9lio J. Cruz Neto","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5068538937","display_name":"Thiago Boaventura","orcid":"https://orcid.org/0000-0002-9008-9883"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Thiago Boaventura","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5015135066"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.57407519,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"517","last_page":"522"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9035999774932861,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9035999774932861,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.06610000133514404,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.005900000222027302,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8476999998092651},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6646999716758728},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6614999771118164},{"id":"https://openalex.org/keywords/electro-hydraulic-actuator","display_name":"Electro-hydraulic actuator","score":0.5259000062942505},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5103999972343445},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.4977000057697296},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45419999957084656},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.43849998712539673},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.4350999891757965}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8476999998092651},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6646999716758728},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6614999771118164},{"id":"https://openalex.org/C53432115","wikidata":"https://www.wikidata.org/wiki/Q5357907","display_name":"Electro-hydraulic actuator","level":3,"score":0.5259000062942505},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5103999972343445},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.49939998984336853},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.4977000057697296},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45419999957084656},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4498000144958496},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.43849998712539673},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.4350999891757965},{"id":"https://openalex.org/C11394606","wikidata":"https://www.wikidata.org/wiki/Q1972552","display_name":"Hydraulic machinery","level":2,"score":0.4090000092983246},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4000999927520752},{"id":"https://openalex.org/C48431260","wikidata":"https://www.wikidata.org/wiki/Q2318337","display_name":"Hydraulic cylinder","level":2,"score":0.3799999952316284},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.3644999861717224},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.34929999709129333},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.32820001244544983},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.3122999966144562},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.28679999709129333},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.27880001068115234},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.2612000107765198},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2612000107765198},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2572999894618988},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.25040000677108765}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icar65334.2025.11338735","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar65334.2025.11338735","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.7622148394584656,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322468","display_name":"Petrobras","ror":"https://ror.org/0235kyq22"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W1978023077","https://openalex.org/W1982932202","https://openalex.org/W1991058191","https://openalex.org/W2056996588","https://openalex.org/W2110047814","https://openalex.org/W2136025653","https://openalex.org/W2323791186","https://openalex.org/W2904365336","https://openalex.org/W2969358697","https://openalex.org/W2979685018","https://openalex.org/W3148891246","https://openalex.org/W4224279864","https://openalex.org/W4391384745","https://openalex.org/W4392026900"],"related_works":[],"abstract_inverted_index":{"Hydraulic":[0],"actuators":[1],"are":[2],"widely":[3],"used":[4],"in":[5,83],"robotic":[6],"systems":[7],"due":[8],"to":[9,60,90],"their":[10,19],"high":[11],"power":[12],"density":[13],"and":[14,31,64,103],"fast":[15],"response":[16],"capabilities.":[17],"However,":[18],"control":[20],"poses":[21],"significant":[22],"challenges,":[23],"such":[24],"as":[25],"nonlinear":[26,49],"flow-pressure":[27],"characteristics,":[28],"internal":[29],"leakage,":[30],"complex":[32],"friction":[33],"dynamics.":[34,69],"This":[35],"paper":[36],"proposes":[37],"an":[38],"enhanced":[39],"model-based":[40],"hydraulic":[41],"load-independent":[42],"force":[43],"controller":[44,97],"for":[45,66],"impedance":[46],"control,":[47],"combining":[48],"feedback":[50],"linearization":[51],"with":[52],"a":[53],"Higher":[54],"Order":[55],"Nonlinear":[56],"Disturbance":[57],"Observer":[58],"(HOn-DOB)":[59],"address":[61],"these":[62],"challenges":[63],"compensate":[65],"other":[67],"unmodeled":[68],"The":[70,93],"proposed":[71],"approach":[72],"can":[73],"effectively":[74],"impose":[75],"the":[76,96],"desired":[77],"closed-loop":[78],"dynamics":[79],"under":[80],"conditions,":[81],"resulting":[82],"improved":[84],"force-tracking":[85],"performance":[86],"that":[87],"is":[88,98],"robust":[89],"modelling":[91],"errors.":[92],"efficacy":[94],"of":[95],"demonstrated":[99],"through":[100],"both":[101],"simulation":[102],"experimental":[104],"validation.":[105]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2026-01-24T00:00:00"}