{"id":"https://openalex.org/W4399374660","doi":"https://doi.org/10.1109/icit58233.2024.10540834","title":"Optimized Admittance Control for Manipulators Interacting with Unknown Environment","display_name":"Optimized Admittance Control for Manipulators Interacting with Unknown Environment","publication_year":2024,"publication_date":"2024-03-25","ids":{"openalex":"https://openalex.org/W4399374660","doi":"https://doi.org/10.1109/icit58233.2024.10540834"},"language":"en","primary_location":{"id":"doi:10.1109/icit58233.2024.10540834","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icit58233.2024.10540834","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Industrial Technology (ICIT)","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/A5051913795","display_name":"Haiyi Kong","orcid":"https://orcid.org/0000-0001-6904-0519"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Haiyi Kong","raw_affiliation_strings":["University of Manchester, Oxford Rd,Department of Electrical and Electronic Engineering,Manchester,UK,M13 9PL","Bristol Robotics Laboratory, University of the West of England, Bristol, UK"],"affiliations":[{"raw_affiliation_string":"University of Manchester, Oxford Rd,Department of Electrical and Electronic Engineering,Manchester,UK,M13 9PL","institution_ids":["https://openalex.org/I28407311"]},{"raw_affiliation_string":"Bristol Robotics Laboratory, University of the West of England, Bristol, UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085578333","display_name":"Guangzhu Peng","orcid":"https://orcid.org/0000-0003-3950-0451"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangzhu Peng","raw_affiliation_strings":["School of Automation, Nanjing University of Information Science and Technology,Nanjing,China,210044"],"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Information Science and Technology,Nanjing,China,210044","institution_ids":["https://openalex.org/I200845125"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108049333","display_name":"Guang Li","orcid":"https://orcid.org/0000-0001-9323-5076"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Guang Li","raw_affiliation_strings":["University of Manchester, Oxford Rd,Department of Electrical and Electronic Engineering,Manchester,UK,M13 9PL"],"affiliations":[{"raw_affiliation_string":"University of Manchester, Oxford Rd,Department of Electrical and Electronic Engineering,Manchester,UK,M13 9PL","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I146655781","display_name":"University of Liverpool","ror":"https://ror.org/04xs57h96","country_code":"GB","type":"education","lineage":["https://openalex.org/I146655781"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["University of the West of England,Bristol Robotics Laboratory,Bristol,UK,BS16 1QY","Department of Computer Science, University of Liverpool, Liverpool, UK"],"affiliations":[{"raw_affiliation_string":"University of the West of England,Bristol Robotics Laboratory,Bristol,UK,BS16 1QY","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]},{"raw_affiliation_string":"Department of Computer Science, University of Liverpool, Liverpool, UK","institution_ids":["https://openalex.org/I146655781"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5051913795"],"corresponding_institution_ids":["https://openalex.org/I178535277","https://openalex.org/I28407311","https://openalex.org/I4210161128"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1010474,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"87","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9894999861717224,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9836999773979187,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/admittance","display_name":"Admittance","score":0.8976883888244629},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7308911085128784},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.688579261302948},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6691188812255859},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.607353687286377},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44884711503982544},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.44274285435676575},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.4386647343635559},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4058529734611511},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3940722942352295},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.37845999002456665},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19602781534194946},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1873951256275177},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15517771244049072},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.14009231328964233}],"concepts":[{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.8976883888244629},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7308911085128784},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.688579261302948},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6691188812255859},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.607353687286377},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44884711503982544},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.44274285435676575},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.4386647343635559},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4058529734611511},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3940722942352295},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.37845999002456665},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19602781534194946},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1873951256275177},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15517771244049072},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.14009231328964233},{"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/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icit58233.2024.10540834","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icit58233.2024.10540834","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Industrial Technology (ICIT)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:publications/b4218019-2ee2-4819-ad68-67212a81783a","is_oa":false,"landing_page_url":"https://research.manchester.ac.uk/en/publications/b4218019-2ee2-4819-ad68-67212a81783a","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Kong, H, Peng, G, Li, G & Yang, C 2024, Optimized Admittance Control for Manipulators Interacting with Unknown Environment. in ICIT2024 : The 2024 International Conference on Industrial Technology (ICIT). IEEE International Conference on Industrial Technology, Danvers, MA, 2024 IEEE International Conference on Industrial Technology, Bristol, United Kingdom, 25/03/24. https://doi.org/10.1109/ICIT58233.2024.10540834","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2093945540","https://openalex.org/W2132952658","https://openalex.org/W2165726932","https://openalex.org/W2550832360","https://openalex.org/W2560597081","https://openalex.org/W2885700861","https://openalex.org/W3008957125","https://openalex.org/W3022253254","https://openalex.org/W3093239081","https://openalex.org/W3114458140","https://openalex.org/W3115157241","https://openalex.org/W3116391487","https://openalex.org/W3134619122","https://openalex.org/W3174862812","https://openalex.org/W4205837126","https://openalex.org/W4206508375","https://openalex.org/W4225763870","https://openalex.org/W4283726971","https://openalex.org/W4309475412","https://openalex.org/W4313557312","https://openalex.org/W4367316853","https://openalex.org/W4379801151","https://openalex.org/W4381785626","https://openalex.org/W4382658113","https://openalex.org/W4383502585","https://openalex.org/W4384811804"],"related_works":["https://openalex.org/W2200472972","https://openalex.org/W2031643172","https://openalex.org/W2047335472","https://openalex.org/W2367857055","https://openalex.org/W3180133250","https://openalex.org/W2024162929","https://openalex.org/W2363278848","https://openalex.org/W1999989966","https://openalex.org/W2021013760","https://openalex.org/W2169818025"],"abstract_inverted_index":{"This":[0],"paper":[1],"considers":[2],"the":[3,7,23,47,56,61,67,89,102,106,118,121],"study":[4],"scenario":[5],"that":[6],"end-effector":[8],"of":[9,46,105,120],"a":[10,13,71,81,94],"manipulator":[11],"follows":[12],"desired":[14],"trajectory":[15],"and":[16,65,111],"interacts":[17],"with":[18,30,76],"external":[19],"environment.":[20,48,107],"To":[21],"maximize":[22],"interaction":[24],"performance,":[25],"admittance":[26,37],"control":[27,91],"is":[28,53,86,98],"combined":[29],"adaptive":[31],"dynamic":[32],"programming":[33],"(ADP).":[34],"The":[35],"optimal":[36],"parameters":[38],"can":[39,59],"be":[40],"learned":[41],"online":[42],"without":[43],"prior":[44],"knowledge":[45],"A":[49],"data-driven":[50],"Hybrid":[51],"Iteration":[52],"employed":[54],"in":[55,88],"ADP,":[57],"which":[58],"relax":[60],"initial":[62],"stabilizing":[63],"requirement":[64],"at":[66],"same":[68],"time":[69],"has":[70],"faster":[72],"convergence":[73],"rate":[74],"compared":[75],"Value":[77],"Iteration.":[78],"In":[79],"addition,":[80],"more":[82],"accurate":[83],"environment":[84],"model":[85],"considered":[87],"system":[90],"design,":[92],"where":[93],"general":[95],"iterative":[96],"expression":[97],"proposed":[99,122],"to":[100,116],"describe":[101],"varying":[103],"contour":[104],"At":[108],"last,":[109],"simulation":[110],"experimental":[112],"studies":[113],"are":[114],"given":[115],"verify":[117],"effectiveness":[119],"method.":[123]},"counts_by_year":[],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}
