{"id":"https://openalex.org/W4403534637","doi":"https://doi.org/10.1109/icarm62033.2024.10715936","title":"Adaptive Impedance Control for Mobile Cooperative Manipulation Systems With Stability and Passivity Guarantees*","display_name":"Adaptive Impedance Control for Mobile Cooperative Manipulation Systems With Stability and Passivity Guarantees*","publication_year":2024,"publication_date":"2024-07-08","ids":{"openalex":"https://openalex.org/W4403534637","doi":"https://doi.org/10.1109/icarm62033.2024.10715936"},"language":"en","primary_location":{"id":"doi:10.1109/icarm62033.2024.10715936","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm62033.2024.10715936","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5060712771","display_name":"Danping Zeng","orcid":"https://orcid.org/0000-0002-3057-860X"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Danping Zeng","raw_affiliation_strings":["Hunan University,School of Robotics and the National Engineering Research Center for Robot Visual Perception and Control Technology,Changsha,China,410082"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hunan University,School of Robotics and the National Engineering Research Center for Robot Visual Perception and Control Technology,Changsha,China,410082","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025640070","display_name":"Yaonan Wang","orcid":"https://orcid.org/0000-0002-0519-6458"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaonan Wang","raw_affiliation_strings":["Hunan University,School of Robotics and the National Engineering Research Center for Robot Visual Perception and Control Technology,Changsha,China,410082"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hunan University,School of Robotics and the National Engineering Research Center for Robot Visual Perception and Control Technology,Changsha,China,410082","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067854210","display_name":"Yiming Jiang","orcid":"https://orcid.org/0000-0001-5963-2932"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiming Jiang","raw_affiliation_strings":["Hunan University,School of Robotics and the National Engineering Research Center for Robot Visual Perception and Control Technology,Changsha,China,410082"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hunan University,School of Robotics and the National Engineering Research Center for Robot Visual Perception and Control Technology,Changsha,China,410082","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035969755","display_name":"Haoran Tan","orcid":"https://orcid.org/0000-0003-4127-8896"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoran Tan","raw_affiliation_strings":["Hunan University,College of Electrical and Information Engineering and the National Engineering Research Center for Robot Visual Perception and Control Technology,Changsha,China,410082"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hunan University,College of Electrical and Information Engineering and the National Engineering Research Center for Robot Visual Perception and Control Technology,Changsha,China,410082","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013336609","display_name":"Zhiqiang Miao","orcid":"https://orcid.org/0000-0002-0899-1537"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Miao","raw_affiliation_strings":["Hunan University,College of Electrical and Information Engineering and the National Engineering Research Center for Robot Visual Perception and Control Technology,Changsha,China,410082"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hunan University,College of Electrical and Information Engineering and the National Engineering Research Center for Robot Visual Perception and Control Technology,Changsha,China,410082","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021559836","display_name":"Yun Feng","orcid":"https://orcid.org/0000-0002-6512-3293"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun Feng","raw_affiliation_strings":["Hunan University,College of Electrical and Information Engineering and the National Engineering Research Center for Robot Visual Perception and Control Technology,Changsha,China,410082"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hunan University,College of Electrical and Information Engineering and the National Engineering Research Center for Robot Visual Perception and Control Technology,Changsha,China,410082","institution_ids":["https://openalex.org/I16609230"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I16609230"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"859","last_page":"864"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9979000091552734,"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":0.9979000091552734,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9452999830245972,"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/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9279000163078308,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.9129447937011719},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6059290766716003},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5420359969139099},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5393872261047363},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5376229882240295},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.47820401191711426},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.471658855676651},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42252814769744873},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35923925042152405},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20557141304016113},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.06407609581947327},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06346836686134338}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.9129447937011719},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6059290766716003},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5420359969139099},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5393872261047363},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5376229882240295},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.47820401191711426},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.471658855676651},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42252814769744873},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35923925042152405},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20557141304016113},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.06407609581947327},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06346836686134338},{"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/icarm62033.2024.10715936","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm62033.2024.10715936","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W2094682361","https://openalex.org/W2104275118","https://openalex.org/W2111647806","https://openalex.org/W2296039882","https://openalex.org/W2517641405","https://openalex.org/W2564380144","https://openalex.org/W2790810617","https://openalex.org/W2885923137","https://openalex.org/W2887685036","https://openalex.org/W2922358507","https://openalex.org/W2950633487","https://openalex.org/W2985409235","https://openalex.org/W3008038390","https://openalex.org/W3161411321","https://openalex.org/W3207457693","https://openalex.org/W3212132944","https://openalex.org/W4205852817","https://openalex.org/W4206643086","https://openalex.org/W4225498988","https://openalex.org/W4285140301","https://openalex.org/W4285253840","https://openalex.org/W4292973120","https://openalex.org/W4366957516","https://openalex.org/W4375798892","https://openalex.org/W4386320449","https://openalex.org/W4388240401","https://openalex.org/W4388270223","https://openalex.org/W4388505501"],"related_works":["https://openalex.org/W3131110707","https://openalex.org/W2716370379","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/W1975719792"],"abstract_inverted_index":{"A":[0],"number":[1],"of":[2,58,88,96,110,121,162],"robotic":[3],"tasks":[4],"exist,":[5],"such":[6,41],"as":[7],"manipulating":[8],"heavy":[9],"and":[10,20,75,107,140],"oversized":[11],"objects,":[12],"where":[13],"a":[14,31,42,103,144],"single":[15],"manipulator":[16,47,99],"is":[17,35,61,100,115,131,156],"not":[18],"enough":[19],"multiple":[21,45],"mobile":[22,46,98,148],"manipulators":[23,149],"need":[24],"to":[25,37,84,118,124,151,158],"be":[26,38],"used.":[27],"When":[28],"uncertainty":[29],"exists,":[30],"compliant":[32],"control":[33,52],"strategy":[34],"expected":[36],"applied":[39],"for":[40,146],"tightly":[43],"coordinated":[44],"system.":[48],"An":[49],"adaptive":[50,56,80,90,128,136],"impedance":[51,59,81,91,94,112,129],"law":[53],"that":[54,70,126],"enables":[55],"updating":[57],"parameters":[60,114],"developed":[62],"in":[63],"this":[64],"work.":[65],"The":[66],"proposed":[67,164],"method":[68],"ensures":[69],"all":[71],"closed-loop":[72],"systems":[73],"boundedly":[74],"asymptotically":[76],"realize":[77],"the":[78,86,89,93,108,111,119,122,127,135,160,163],"desired":[79],"dynamics.":[82],"Furthermore,":[83],"ensure":[85,125],"passivity":[87],"system,":[92],"system":[95,113,130],"each":[97],"interconnected":[101],"with":[102],"virtual":[104],"energy":[105,123],"tank,":[106],"update":[109],"guided":[116],"according":[117],"level":[120],"passive,":[132],"thus":[133],"realizing":[134],"trade-off":[137],"between":[138],"compliance":[139],"operational":[141],"accuracy.":[142],"Finally,":[143],"simulation":[145],"four":[147],"collaborating":[150],"carry":[152],"an":[153],"unknown":[154],"object":[155],"provided":[157],"validate":[159],"effectiveness":[161],"one.":[165]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
