{"id":"https://openalex.org/W2022334318","doi":"https://doi.org/10.1109/icra.2012.6225082","title":"Passive impedance control of a multi-DOF VSA-CubeBot manipulator","display_name":"Passive impedance control of a multi-DOF VSA-CubeBot manipulator","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2022334318","doi":"https://doi.org/10.1109/icra.2012.6225082","mag":"2022334318"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225082","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225082","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/record/1165","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080682607","display_name":"Michele Mancini","orcid":"https://orcid.org/0000-0003-0845-2813"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Michele Mancini","raw_affiliation_strings":["Centro Int. di Ricerca E. Piaggio, University of Pisa, Pisa, Italy","Centro Int. di Ricerca \u201cE. Piaggio\u201d, Univ. of Pisa, 56126, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro Int. di Ricerca E. Piaggio, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro Int. di Ricerca \u201cE. Piaggio\u201d, Univ. of Pisa, 56126, Italy","institution_ids":["https://openalex.org/I108290504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079017232","display_name":"Giorgio Grioli","orcid":"https://orcid.org/0000-0002-5310-2997"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgio Grioli","raw_affiliation_strings":["Centro Int. di Ricerca E. Piaggio, University of Pisa, Pisa, Italy","Centro Int. di Ricerca \u201cE. Piaggio\u201d, Univ. of Pisa, 56126, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro Int. di Ricerca E. Piaggio, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro Int. di Ricerca \u201cE. Piaggio\u201d, Univ. of Pisa, 56126, Italy","institution_ids":["https://openalex.org/I108290504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056194661","display_name":"Manuel G. Catalano","orcid":"https://orcid.org/0000-0003-1950-6186"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manuel G. Catalano","raw_affiliation_strings":["Centro Int. di Ricerca E. Piaggio, University of Pisa, Pisa, Italy","Centro Int. di Ricerca \u201cE. Piaggio\u201d, Univ. of Pisa, 56126, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro Int. di Ricerca E. Piaggio, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro Int. di Ricerca \u201cE. Piaggio\u201d, Univ. of Pisa, 56126, Italy","institution_ids":["https://openalex.org/I108290504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042460018","display_name":"Manolo Garabini","orcid":"https://orcid.org/0000-0002-5873-3173"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manolo Garabini","raw_affiliation_strings":["Centro Int. di Ricerca E. Piaggio, University of Pisa, Pisa, Italy","Centro Int. di Ricerca \u201cE. Piaggio\u201d, Univ. of Pisa, 56126, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro Int. di Ricerca E. Piaggio, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro Int. di Ricerca \u201cE. Piaggio\u201d, Univ. of Pisa, 56126, Italy","institution_ids":["https://openalex.org/I108290504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044074376","display_name":"Fabio Bonomo","orcid":"https://orcid.org/0009-0006-2395-3156"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fabio Bonomo","raw_affiliation_strings":["Centro Int. di Ricerca E. Piaggio, University of Pisa, Pisa, Italy","Centro Int. di Ricerca \u201cE. Piaggio\u201d, Univ. of Pisa, 56126, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro Int. di Ricerca E. Piaggio, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro Int. di Ricerca \u201cE. Piaggio\u201d, Univ. of Pisa, 56126, Italy","institution_ids":["https://openalex.org/I108290504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082180334","display_name":"Antonio Bicchi","orcid":"https://orcid.org/0000-0001-8635-5571"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Bicchi","raw_affiliation_strings":["Centro Int. di Ricerca E. Piaggio, University of Pisa, Pisa, Italy","Centro Int. di Ricerca \u201cE. Piaggio\u201d, Univ. of Pisa, 56126, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro Int. di Ricerca E. Piaggio, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro Int. di Ricerca \u201cE. Piaggio\u201d, Univ. of Pisa, 56126, Italy","institution_ids":["https://openalex.org/I108290504"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2277,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.91103118,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"2","issue":null,"first_page":"3335","last_page":"3340"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.992900013923645,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9908000230789185,"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/workspace","display_name":"Workspace","score":0.8705617785453796},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.8166562914848328},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.7826005220413208},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7330179214477539},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5996790528297424},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5919321775436401},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5735783576965332},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5395680069923401},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5258460640907288},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4472973644733429},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.43440693616867065},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3193296790122986},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3010106086730957},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.300899863243103},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.22007930278778076},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2155943214893341},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09796690940856934},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08983904123306274},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07707828283309937},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07429179549217224}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8705617785453796},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8166562914848328},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.7826005220413208},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7330179214477539},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5996790528297424},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5919321775436401},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5735783576965332},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5395680069923401},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5258460640907288},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4472973644733429},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.43440693616867065},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3193296790122986},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3010106086730957},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.300899863243103},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.22007930278778076},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2155943214893341},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09796690940856934},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08983904123306274},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07707828283309937},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07429179549217224},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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":3,"locations":[{"id":"doi:10.1109/icra.2012.6225082","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225082","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:arpi.unipi.it:11568/158476","is_oa":false,"landing_page_url":"http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6225082","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:openaire.cern.ch:1165","is_oa":true,"landing_page_url":"https://zenodo.org/record/1165","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:openaire.cern.ch:1165","is_oa":true,"landing_page_url":"https://zenodo.org/record/1165","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W1579753478","https://openalex.org/W1978023077","https://openalex.org/W2042920225","https://openalex.org/W2069626782","https://openalex.org/W2111253117","https://openalex.org/W2116740732","https://openalex.org/W2131327958","https://openalex.org/W2131404784","https://openalex.org/W2139086916","https://openalex.org/W2146434305","https://openalex.org/W2150024155","https://openalex.org/W2150367199","https://openalex.org/W2155219617","https://openalex.org/W2158123590","https://openalex.org/W2169100281","https://openalex.org/W2553822319","https://openalex.org/W6634642804","https://openalex.org/W6644756748","https://openalex.org/W6679305141"],"related_works":["https://openalex.org/W2952364160","https://openalex.org/W3212673989","https://openalex.org/W2314048082","https://openalex.org/W1548357495","https://openalex.org/W1968487248","https://openalex.org/W2078580336","https://openalex.org/W2097006611","https://openalex.org/W2954323201","https://openalex.org/W2583465206","https://openalex.org/W2001273675"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"an":[3,62],"example":[4],"of":[5,8,12,22,33],"the":[6,19,31,40,48,79,83,90,94,108,113,119,123,127],"application":[7],"passive":[9],"impedance":[10],"control":[11,66],"a":[13,34,42,55,59,75],"variable":[14,23],"stiffness":[15,24,72,86,92,97,116],"manipulator,":[16],"which":[17,105],"shows":[18],"actual":[20],"benefits":[21],"in":[25],"rejecting":[26],"disturbances":[27],"without":[28],"resorting":[29],"to":[30,53,78,121],"closure":[32],"high":[35],"level":[36],"feedback":[37],"loop.":[38],"In":[39],"experiment":[41],"4-DOF":[43],"manipulator":[44],"arm,":[45],"built":[46],"with":[47,74,107],"VSA-CubeBot":[49],"platform,":[50],"is":[51,67,98],"controlled":[52],"hold":[54],"pen":[56],"and":[57,71],"draw":[58],"circle":[60],"on":[61,126],"uneven":[63,128],"surface.":[64],"The":[65],"designed":[68],"calculating":[69],"joint":[70,91],"trajectories":[73],"Cartesian":[76],"approach":[77],"problem,":[80],"thus":[81],"designing":[82],"optimal":[84],"workspace":[85,96],"at":[87,130],"first.":[88],"Then,":[89],"yielding":[93],"closest":[95],"searched":[99],"for.":[100],"Experimental":[101],"results":[102],"are":[103],"reported,":[104],"agree":[106],"theoretical":[109],"outcomes,":[110],"showing":[111],"that":[112],"sub-optimal":[114],"joints":[115],"settings":[117],"allow":[118],"arm":[120],"follow":[122],"circular":[124],"trajectory":[125],"surface":[129],"best.":[131]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2016-06-24T00:00:00"}