{"id":"https://openalex.org/W1971405955","doi":"https://doi.org/10.1109/icca.2014.6871059","title":"Biomimetic joint/task space hybrid adaptive control for bimanual robotic manipulation","display_name":"Biomimetic joint/task space hybrid adaptive control for bimanual robotic manipulation","publication_year":2014,"publication_date":"2014-06-01","ids":{"openalex":"https://openalex.org/W1971405955","doi":"https://doi.org/10.1109/icca.2014.6871059","mag":"1971405955"},"language":"en","primary_location":{"id":"doi:10.1109/icca.2014.6871059","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2014.6871059","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"11th IEEE International Conference on Control &amp; Automation (ICCA)","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/A5011656799","display_name":"Alex Smith","orcid":null},"institutions":[{"id":"https://openalex.org/I897542642","display_name":"University of Plymouth","ror":"https://ror.org/008n7pv89","country_code":"GB","type":"education","lineage":["https://openalex.org/I897542642"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Alex Smith","raw_affiliation_strings":["School of Computing and Mathematics, Plymouth University, UK","Sch. of Comput. & Math., Plymouth Univ., Plymouth, UK"],"affiliations":[{"raw_affiliation_string":"School of Computing and Mathematics, Plymouth University, UK","institution_ids":["https://openalex.org/I897542642"]},{"raw_affiliation_string":"Sch. of Comput. & Math., Plymouth Univ., Plymouth, UK","institution_ids":["https://openalex.org/I897542642"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I897542642","display_name":"University of Plymouth","ror":"https://ror.org/008n7pv89","country_code":"GB","type":"education","lineage":["https://openalex.org/I897542642"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China","Sch. of Comput. & Math., Plymouth Univ., Plymouth, UK"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Sch. of Comput. & Math., Plymouth Univ., Plymouth, UK","institution_ids":["https://openalex.org/I897542642"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072523018","display_name":"Hongbin Ma","orcid":"https://orcid.org/0000-0002-5734-3157"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbin Ma","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China","School of Automation, Beijing Institute of Technology, Beijing, CHINA"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, CHINA","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087830879","display_name":"Phil Culverhouse","orcid":"https://orcid.org/0000-0002-7586-6496"},"institutions":[{"id":"https://openalex.org/I897542642","display_name":"University of Plymouth","ror":"https://ror.org/008n7pv89","country_code":"GB","type":"education","lineage":["https://openalex.org/I897542642"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Phil Culverhouse","raw_affiliation_strings":["School of Computing and Mathematics, Plymouth University, UK","Sch. of Comput. & Math., Plymouth Univ., Plymouth, UK"],"affiliations":[{"raw_affiliation_string":"School of Computing and Mathematics, Plymouth University, UK","institution_ids":["https://openalex.org/I897542642"]},{"raw_affiliation_string":"Sch. of Comput. & Math., Plymouth Univ., Plymouth, UK","institution_ids":["https://openalex.org/I897542642"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091768977","display_name":"Angelo Cangelosi","orcid":"https://orcid.org/0000-0002-4709-2243"},"institutions":[{"id":"https://openalex.org/I897542642","display_name":"University of Plymouth","ror":"https://ror.org/008n7pv89","country_code":"GB","type":"education","lineage":["https://openalex.org/I897542642"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Angelo Cangelosi","raw_affiliation_strings":["School of Computing and Mathematics, Plymouth University, UK","Sch. of Comput. & Math., Plymouth Univ., Plymouth, UK"],"affiliations":[{"raw_affiliation_string":"School of Computing and Mathematics, Plymouth University, UK","institution_ids":["https://openalex.org/I897542642"]},{"raw_affiliation_string":"Sch. of Comput. & Math., Plymouth Univ., Plymouth, UK","institution_ids":["https://openalex.org/I897542642"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025807459","display_name":"Etienne Burdet","orcid":"https://orcid.org/0000-0002-2123-0185"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Etienne Burdet","raw_affiliation_strings":["Department of Bioengineering, Imperial College, London, UK","Dept. of Bioeng., Imperial Coll. London, London, , UK"],"affiliations":[{"raw_affiliation_string":"Department of Bioengineering, Imperial College, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Dept. of Bioeng., Imperial Coll. London, London, , UK","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5011656799"],"corresponding_institution_ids":["https://openalex.org/I897542642"],"apc_list":null,"apc_paid":null,"fwci":2.4612,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.89234667,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"567","issue":null,"first_page":"1013","last_page":"1018"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9991000294685364,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9990000128746033,"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/impedance-control","display_name":"Impedance control","score":0.7673661708831787},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.745874285697937},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6535517573356628},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6477962732315063},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5630286335945129},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5414254069328308},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4707739055156708},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4652211666107178},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4637172222137451},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4523332118988037},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32568663358688354},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24764025211334229},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23654207587242126},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1837291717529297}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.7673661708831787},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.745874285697937},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6535517573356628},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6477962732315063},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5630286335945129},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5414254069328308},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4707739055156708},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4652211666107178},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4637172222137451},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4523332118988037},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32568663358688354},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24764025211334229},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23654207587242126},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1837291717529297},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icca.2014.6871059","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2014.6871059","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"11th IEEE International Conference on Control &amp; Automation (ICCA)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/d346b05c-506c-45d0-b9a1-75511a09f313","is_oa":false,"landing_page_url":"https://research.manchester.ac.uk/en/publications/d346b05c-506c-45d0-b9a1-75511a09f313","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Smith, A, Yang, C, Ma, H, Culverhouse, P, Cangelosi, A & Burdet, E 2014, 'Biomimetic Joint/Task Space Hybrid Adaptive Control for Bimanual Robotic Manipulation', 11th IEEE International Conference on Control and Automation (ICCA), pp. 1013-1018.","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.atira.dk:publications/d346b05c-506c-45d0-b9a1-75511a09f313","is_oa":false,"landing_page_url":"https://www.research.manchester.ac.uk/portal/en/publications/biomimetic-jointtask-space-hybrid-adaptive-control-for-bimanual-robotic-manipulation(d346b05c-506c-45d0-b9a1-75511a09f313).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Smith, A, Yang, C, Ma, H, Culverhouse, P, Cangelosi, A & Burdet, E 2014, 'Biomimetic Joint/Task Space Hybrid Adaptive Control for Bimanual Robotic Manipulation', 11th IEEE International Conference on Control and Automation (ICCA), pp. 1013-1018.","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1994934823","display_name":null,"funder_award_id":"EP/J004561/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8264771511","display_name":null,"funder_award_id":"EP/L026856/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1521528529","https://openalex.org/W1552041080","https://openalex.org/W1823099908","https://openalex.org/W1960096875","https://openalex.org/W1978023077","https://openalex.org/W2001737341","https://openalex.org/W2002078422","https://openalex.org/W2030268430","https://openalex.org/W2080487795","https://openalex.org/W2105106514","https://openalex.org/W2105162422","https://openalex.org/W2111528514","https://openalex.org/W2116740732","https://openalex.org/W2154358910","https://openalex.org/W2158970259","https://openalex.org/W2293181998","https://openalex.org/W4231457463","https://openalex.org/W4252031641"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W2161688277","https://openalex.org/W2172274897","https://openalex.org/W1545539801","https://openalex.org/W1568936204","https://openalex.org/W1500387900","https://openalex.org/W4280596088","https://openalex.org/W1966075561","https://openalex.org/W2318120411"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"study":[4],"the":[5,75,79,90,93,102],"adaptive":[6,95],"control":[7,36,58,115],"of":[8,44,48,92],"a":[9,13,17,26,53],"bimanual":[10],"manipulator":[11],"moving":[12],"dynamic":[14],"object":[15],"through":[16],"trajectory.":[18],"Impedance":[19],"and":[20,35,50,74,117],"force":[21,51],"are":[22],"adapted":[23],"online":[24],"using":[25],"novel":[27],"biomimetic":[28],"algorithm":[29],"that":[30,101],"minimises":[31],"both":[32],"tracking":[33,118],"error":[34],"effort,":[37],"as":[38],"observed":[39],"in":[40],"humans.":[41],"On":[42],"top":[43],"our":[45],"previous":[46],"work":[47],"impedance":[49,80],"adaptation,":[52],"new":[54],"task":[55,63],"space/joint-space":[56],"hybrid":[57,104],"scheme":[59],"is":[60],"developed.":[61],"The":[62,98],"space":[64],"controller":[65,77,105],"adapts":[66,78],"end-point":[67],"impedance,":[68],"to":[69,81],"compensate":[70],"for":[71],"interactive":[72],"dynamics,":[73],"joint-space":[76],"improve":[82],"robustness":[83],"against":[84],"external":[85],"disturbances.":[86],"Extensive":[87],"simulations":[88],"demonstrate":[89],"efficiency":[91],"developed":[94],"motion":[96],"controller.":[97],"results":[99],"show":[100],"proposed":[103],"can":[106],"perform":[107],"well":[108],"under":[109],"large":[110],"disturbance":[111],"conditions":[112],"while":[113],"minimising":[114],"effort":[116],"error.":[119]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
