{"id":"https://openalex.org/W1541925238","doi":"https://doi.org/10.1109/icra.2015.7139036","title":"Unified passivity-based Cartesian force/impedance control for rigid and flexible joint robots via task-energy tanks","display_name":"Unified passivity-based Cartesian force/impedance control for rigid and flexible joint robots via task-energy tanks","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1541925238","doi":"https://doi.org/10.1109/icra.2015.7139036","mag":"1541925238"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139036","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139036","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1438611","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090605839","display_name":"Christopher Schindlbeck","orcid":"https://orcid.org/0000-0002-2443-3228"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Christopher Schindlbeck","raw_affiliation_strings":["Faculty of Electrical Engineering and Computer Science, Leibniz Universit\u00e4t Hannover, Hannover, Germany","Institute of Automatic Control, Faculty of Electrical Engineering and Computer Science, Leibniz Universit\u00e4t Hannover, 30167, Germany"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computer Science, Leibniz Universit\u00e4t Hannover, Hannover, Germany","institution_ids":["https://openalex.org/I114112103"]},{"raw_affiliation_string":"Institute of Automatic Control, Faculty of Electrical Engineering and Computer Science, Leibniz Universit\u00e4t Hannover, 30167, Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Faculty of Electrical Engineering and Computer Science, Leibniz Universit\u00e4t Hannover, Hannover, Germany","Institute of Automatic Control, Faculty of Electrical Engineering and Computer Science, Leibniz Universit\u00e4t Hannover, 30167, Germany"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computer Science, Leibniz Universit\u00e4t Hannover, Hannover, Germany","institution_ids":["https://openalex.org/I114112103"]},{"raw_affiliation_string":"Institute of Automatic Control, Faculty of Electrical Engineering and Computer Science, Leibniz Universit\u00e4t Hannover, 30167, Germany","institution_ids":["https://openalex.org/I114112103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5090605839"],"corresponding_institution_ids":["https://openalex.org/I114112103"],"apc_list":null,"apc_paid":null,"fwci":11.7257,"has_fulltext":false,"cited_by_count":172,"citation_normalized_percentile":{"value":0.98941575,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"440","last_page":"447"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9994999766349792,"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":0.9915000200271606,"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/passivity","display_name":"Passivity","score":0.8835917115211487},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.7909522652626038},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.726707935333252},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7198969721794128},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.6189208030700684},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5572910308837891},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5380894541740417},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5376089811325073},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5336716175079346},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.5334261655807495},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5262348055839539},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4895056486129761},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.48233363032341003},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.46518534421920776},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39316314458847046},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3356657326221466},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2469610571861267},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13015049695968628},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08985814452171326},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07348749041557312}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.8835917115211487},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.7909522652626038},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.726707935333252},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7198969721794128},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.6189208030700684},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5572910308837891},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5380894541740417},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5376089811325073},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5336716175079346},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.5334261655807495},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5262348055839539},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4895056486129761},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.48233363032341003},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.46518534421920776},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39316314458847046},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3356657326221466},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2469610571861267},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13015049695968628},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08985814452171326},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07348749041557312},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2015.7139036","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139036","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1438611","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1438611","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1438611","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1438611","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[{"score":0.9100000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1967377907","https://openalex.org/W1974757838","https://openalex.org/W1995090200","https://openalex.org/W2015413619","https://openalex.org/W2016958754","https://openalex.org/W2023080842","https://openalex.org/W2039907488","https://openalex.org/W2048270103","https://openalex.org/W2057538835","https://openalex.org/W2062090174","https://openalex.org/W2071935905","https://openalex.org/W2097446805","https://openalex.org/W2107799372","https://openalex.org/W2116822311","https://openalex.org/W2118387366","https://openalex.org/W2121693658","https://openalex.org/W2131666656","https://openalex.org/W2142380406","https://openalex.org/W2146794336","https://openalex.org/W2150024155","https://openalex.org/W2162189406","https://openalex.org/W4254005064"],"related_works":["https://openalex.org/W3131110707","https://openalex.org/W3212673989","https://openalex.org/W2716370379","https://openalex.org/W2078580336","https://openalex.org/W2954323201","https://openalex.org/W2583465206","https://openalex.org/W2001273675","https://openalex.org/W2786196354","https://openalex.org/W4399374581","https://openalex.org/W2127677850"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3,74],"propose":[4,75],"a":[5,53,76,99],"novel":[6],"hybrid":[7],"Cartesian":[8],"force/impedance":[9],"controller":[10,54,108],"that":[11,57,67],"is":[12],"equipped":[13],"with":[14,131],"energy":[15,82,96],"tanks":[16,83],"to":[17,105,112],"preserve":[18],"passivity.":[19],"Our":[20],"approach":[21],"overcomes":[22],"the":[23,81,85,95,122,132],"problems":[24],"of":[25,79,87,94,98,124],"(hybrid)":[26],"force":[27,35,40,101],"control,":[28,30],"impedance":[29,44],"and":[31,46,63,116,129],"set-point":[32],"based":[33,69],"indirect":[34],"control.":[36],"It":[37],"allows":[38],"accurate":[39],"tracking,":[41],"full":[42],"compliant":[43],"behavior,":[45],"safe":[47],"contact":[48,61],"resemblance":[49],"simultaneously":[50],"by":[51],"introducing":[52],"shaping":[55],"function":[56],"robustly":[58],"handles":[59],"unexpected":[60],"loss":[62],"avoids":[64],"chattering":[65],"behavior":[66],"switching":[68],"approaches":[70],"suffer":[71],"from.":[72],"Furthermore,":[73],"constructive":[77],"way":[78],"initiating":[80],"via":[84],"concept":[86],"task":[88,103],"energy.":[89],"This":[90],"represents":[91],"an":[92],"estimate":[93],"consumption":[97],"given":[100],"control":[102],"prior":[104],"execution.":[106],"The":[107],"can":[109],"be":[110],"applied":[111],"both":[113],"rigid":[114],"body":[115],"flexible":[117],"joint":[118],"dynamics.":[119],"To":[120],"show":[121],"validity":[123],"our":[125],"approach,":[126],"several":[127],"simulations":[128],"experiments":[130],"KUKA/DLR":[133],"LWR-III":[134],"are":[135],"carried":[136],"out.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":23},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":20},{"year":2021,"cited_by_count":17},{"year":2020,"cited_by_count":27},{"year":2019,"cited_by_count":18},{"year":2018,"cited_by_count":18},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":1}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}