{"id":"https://openalex.org/W2132189629","doi":"https://doi.org/10.1109/icra.2011.5979563","title":"Passivity based task-space bilateral teleoperation with time delays","display_name":"Passivity based task-space bilateral teleoperation with time delays","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2132189629","doi":"https://doi.org/10.1109/icra.2011.5979563","mag":"2132189629"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979563","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979563","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5007643306","display_name":"Hanlei Wang","orcid":"https://orcid.org/0000-0002-4966-3089"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Hanlei Wang","raw_affiliation_strings":["Beijing Institute of Control Engineering, 100190 China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Control Engineering, 100190 China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013570618","display_name":"Yongchun Xie","orcid":"https://orcid.org/0000-0003-1412-0495"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yongchun Xie","raw_affiliation_strings":["Beijing Institute of Control Engineering, 100190 China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Control Engineering, 100190 China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5007643306"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.5331,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.92300116,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2098","last_page":"2103"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T13885","display_name":"Geophysics and Sensor Technology","score":0.9146000146865845,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/teleoperation","display_name":"Teleoperation","score":0.9496266841888428},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.8399657011032104},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7545126676559448},{"id":"https://openalex.org/keywords/master/slave","display_name":"Master/slave","score":0.6261810660362244},{"id":"https://openalex.org/keywords/transpose","display_name":"Transpose","score":0.6035551428794861},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.5648653507232666},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5295321345329285},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5230473279953003},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.4885588586330414},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4738495945930481},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4123817980289459},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3871297240257263},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35326480865478516},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33851176500320435},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2700613737106323},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2176164984703064},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14939740300178528},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1347648799419403}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9496266841888428},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.8399657011032104},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7545126676559448},{"id":"https://openalex.org/C20454292","wikidata":"https://www.wikidata.org/wiki/Q735523","display_name":"Master/slave","level":2,"score":0.6261810660362244},{"id":"https://openalex.org/C200106649","wikidata":"https://www.wikidata.org/wiki/Q223683","display_name":"Transpose","level":3,"score":0.6035551428794861},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.5648653507232666},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5295321345329285},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5230473279953003},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.4885588586330414},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4738495945930481},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4123817980289459},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3871297240257263},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35326480865478516},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33851176500320435},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2700613737106323},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2176164984703064},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14939740300178528},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1347648799419403},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5979563","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979563","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/8","score":0.4699999988079071,"display_name":"Decent work and economic growth"},{"id":"https://metadata.un.org/sdg/10","score":0.41999998688697815,"display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W99253999","https://openalex.org/W1487127700","https://openalex.org/W1496777766","https://openalex.org/W1890736971","https://openalex.org/W1953308155","https://openalex.org/W1974357213","https://openalex.org/W1976788232","https://openalex.org/W1990777642","https://openalex.org/W1995349561","https://openalex.org/W2040555760","https://openalex.org/W2090972408","https://openalex.org/W2108052496","https://openalex.org/W2109609092","https://openalex.org/W2118166401","https://openalex.org/W2122895826","https://openalex.org/W2124237013","https://openalex.org/W2126552455","https://openalex.org/W2130693052","https://openalex.org/W2135464393","https://openalex.org/W2142161411","https://openalex.org/W2147285204","https://openalex.org/W2148074472","https://openalex.org/W2155405623","https://openalex.org/W2161391132","https://openalex.org/W2163541287","https://openalex.org/W2163970575","https://openalex.org/W2164259133","https://openalex.org/W2561111412","https://openalex.org/W2728576694","https://openalex.org/W3142057176","https://openalex.org/W4285719527","https://openalex.org/W6741130802"],"related_works":["https://openalex.org/W2090171584","https://openalex.org/W2141321389","https://openalex.org/W2126456812","https://openalex.org/W2099914424","https://openalex.org/W2063905323","https://openalex.org/W3207600904","https://openalex.org/W3080989239","https://openalex.org/W2914607567","https://openalex.org/W4390338938","https://openalex.org/W2101849315"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"control":[3,59,143],"schemes":[4],"for":[5,61],"task-space":[6,79],"bilateral":[7,62],"teleoperation":[8],"with":[9,64],"communication":[10,65],"time":[11,66,96],"delays.":[12,67],"Teleoperation":[13],"in":[14],"task":[15],"space":[16,38],"R3\u00d7SO(3)":[17],"presents":[18],"some":[19],"distinctive":[20],"features":[21],"different":[22,34],"from":[23,36],"its":[24],"joint-space":[25],"counterpart,":[26],"i.e.,":[27],"SO(3)":[28],"is":[29,74,134],"non-convex":[30],"and":[31,50,85,102,113,117],"bears":[32],"quite":[33],"structure":[35],"Euclidean":[37],"Rn.":[39],"Through":[40],"advisable":[41],"parametrization":[42],"of":[43,69,94,108,120,130,140],"the":[44,70,83,86,91,95,109,115,121,138,141],"error":[45],"attitude":[46],"matrix":[47],"between":[48],"master":[49,84],"slave":[51,87],"robots,":[52],"we":[53,105],"propose":[54],"a":[55,126],"new":[56],"transpose":[57],"Jacobian":[58],"algorithm":[60],"teleoperators":[63],"Passivity":[68],"closed-loop":[71,110],"teleoperator":[72,111,128],"system":[73,112],"ensured":[75],"by":[76],"injecting":[77],"additional":[78],"dissipation":[80],"both":[81],"at":[82],"sides":[88],"to":[89,136],"accommodate":[90],"detrimental":[92],"effects":[93],"delay.":[97],"Using":[98],"Lyapunov":[99],"stability":[100],"tool":[101],"Schwarz":[103],"inequality,":[104],"show":[106],"passivity":[107],"illustrate":[114,137],"tracking":[116],"force-reflecting":[118],"performance":[119,139],"teleoperator.":[122],"Simulation":[123],"study":[124],"on":[125],"master-slave":[127],"composed":[129],"two":[131],"six-DOF":[132],"manipulators":[133],"performed":[135],"proposed":[142],"approach.":[144]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}