{"id":"https://openalex.org/W4383108658","doi":"https://doi.org/10.1109/icra48891.2023.10160958","title":"Actuator Capabilities Aware Limitation for TDPA Passivity Controller Action","display_name":"Actuator Capabilities Aware Limitation for TDPA Passivity Controller Action","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108658","doi":"https://doi.org/10.1109/icra48891.2023.10160958"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160958","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160958","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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":"https://www.iris.sssup.it/bitstream/11382/564092/1/2024_ICRA.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056421977","display_name":"Francesco Porcini","orcid":"https://orcid.org/0000-0001-9263-9423"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Francesco Porcini","raw_affiliation_strings":["Scuola Superiore Sant&#x0027;Anna, IIM Institute,PERCRO Laboratory,Pisa,Italy"],"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant&#x0027;Anna, IIM Institute,PERCRO Laboratory,Pisa,Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024324481","display_name":"Alessandro Filippeschi","orcid":"https://orcid.org/0000-0001-6078-6429"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro Filippeschi","raw_affiliation_strings":["Scuola Superiore Sant&#x0027;Anna, IIM Institute,PERCRO Laboratory,Pisa,Italy","Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant&#x0027;Anna, IIM Institute,PERCRO Laboratory,Pisa,Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089138290","display_name":"Massimiliano Solazzi","orcid":"https://orcid.org/0000-0002-9053-2814"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Massimiliano Solazzi","raw_affiliation_strings":["Scuola Superiore Sant&#x0027;Anna, IIM Institute,PERCRO Laboratory,Pisa,Italy","Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant&#x0027;Anna, IIM Institute,PERCRO Laboratory,Pisa,Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086535808","display_name":"Carlo Alberto Avizzano","orcid":"https://orcid.org/0000-0001-5802-541X"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Carlo Alberto Avizzano","raw_affiliation_strings":["Scuola Superiore Sant&#x0027;Anna, IIM Institute,PERCRO Laboratory,Pisa,Italy","Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant&#x0027;Anna, IIM Institute,PERCRO Laboratory,Pisa,Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090204404","display_name":"Antonio Frisoli","orcid":"https://orcid.org/0000-0002-7126-4113"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Frisoli","raw_affiliation_strings":["Scuola Superiore Sant&#x0027;Anna, IIM Institute,PERCRO Laboratory,Pisa,Italy","Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant&#x0027;Anna, IIM Institute,PERCRO Laboratory,Pisa,Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5056421977"],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":0.3967,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.55282615,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"12058","last_page":"12064"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9466999769210815,"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"}},{"id":"https://openalex.org/T13248","display_name":"Healthcare Technology and Patient Monitoring","score":0.9196000099182129,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.9388612508773804},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7568652629852295},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7442192435264587},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6803209185600281},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6239489912986755},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6065170764923096},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4840078055858612},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47944942116737366},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.45285114645957947},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.4416763186454773},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.43644657731056213},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.4175340235233307},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.28416186571121216},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27566659450531006},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18816235661506653},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1572924256324768},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08148783445358276}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.9388612508773804},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7568652629852295},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7442192435264587},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6803209185600281},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6239489912986755},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6065170764923096},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4840078055858612},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47944942116737366},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.45285114645957947},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.4416763186454773},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.43644657731056213},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.4175340235233307},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.28416186571121216},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27566659450531006},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18816235661506653},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1572924256324768},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08148783445358276},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48891.2023.10160958","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160958","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.iris.sssup.it:11382/564092","is_oa":true,"landing_page_url":"https://hdl.handle.net/11382/564092","pdf_url":"https://www.iris.sssup.it/bitstream/11382/564092/1/2024_ICRA.pdf","source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"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":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:www.iris.sssup.it:11382/564092","is_oa":true,"landing_page_url":"https://hdl.handle.net/11382/564092","pdf_url":"https://www.iris.sssup.it/bitstream/11382/564092/1/2024_ICRA.pdf","source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"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":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4383108658.pdf","grobid_xml":"https://content.openalex.org/works/W4383108658.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W1984343324","https://openalex.org/W2001852229","https://openalex.org/W2065644102","https://openalex.org/W2109322236","https://openalex.org/W2124237013","https://openalex.org/W2150251204","https://openalex.org/W2153631465","https://openalex.org/W2155588159","https://openalex.org/W2158101797","https://openalex.org/W2159479148","https://openalex.org/W2168660446","https://openalex.org/W2168986517","https://openalex.org/W2528225250","https://openalex.org/W2909468150","https://openalex.org/W2919988232","https://openalex.org/W2948556269","https://openalex.org/W2970424852","https://openalex.org/W3090415619","https://openalex.org/W3102817735","https://openalex.org/W4312398179"],"related_works":["https://openalex.org/W4233304828","https://openalex.org/W4239268637","https://openalex.org/W2952841825","https://openalex.org/W2051296765","https://openalex.org/W1977819874","https://openalex.org/W2960878236","https://openalex.org/W153449849","https://openalex.org/W2473698078","https://openalex.org/W2085176909","https://openalex.org/W2792365087"],"abstract_inverted_index":{"Haptic":[0],"interaction":[1],"often":[2],"requires":[3],"stabilizing":[4,50],"controllers":[5],"for":[6,106],"safety.":[7],"The":[8,28,97,169,181],"Time-Domain":[9],"Passivity":[10,35,117],"Approach":[11],"guarantees":[12],"passivity":[13],"(then":[14],"stability)":[15],"by":[16,33,188],"observing":[17],"and":[18,76,132],"dissipating":[19,29],"energy":[20],"generated":[21],"from":[22],"active":[23],"elements":[24],"in":[25,54,57,73,161,192],"a":[26,34,111,154,158,162,166],"network.":[27],"action":[30,38,51,119],"is":[31,39,68,82,120,139],"performed":[32],"Controller,":[36],"whose":[37],"commanded":[40],"to":[41,59,63,86,92,114],"the":[42,48,64,74,80,87,93,100,116,126,130,133,143,148,152,177,185,189],"physically":[43],"limited":[44,56],"robot":[45,134],"actuators.":[46,65],"Thus,":[47],"controller":[49],"should":[52],"be":[53],"turn":[55],"order":[58],"command":[60],"displayable":[61],"references":[62],"This":[66,136],"problem":[67],"rarely":[69],"taken":[70],"into":[71,123],"account":[72,124],"literature":[75],"when":[77],"it":[78],"is,":[79],"limitation":[81,179],"neither":[83],"directly":[84],"related":[85],"actuator":[88],"power":[89],"limits,":[90],"nor":[91],"robot's":[94],"current":[95],"configuration.":[96,135],"limits":[98,128],"of":[99,129],"currently":[101],"adopted":[102],"strategies":[103],"leave":[104],"room":[105],"improvement.":[107],"In":[108,151],"this":[109],"paper,":[110],"new":[112,137],"strategy":[113,138,191],"limit":[115],"Controller":[118],"proposed":[121,190],"taking":[122],"both":[125],"physical":[127],"actuators":[131],"experimentally":[140],"tested":[141],"against":[142],"classical":[144],"one":[145],"based":[146],"on":[147],"sampling":[149],"time.":[150],"experiment,":[153],"human":[155],"interacts":[156],"with":[157,176],"virtual":[159],"wall":[160,170],"Virtual":[163],"Environment":[164],"through":[165],"haptic":[167],"interface.":[168],"induces":[171],"an":[172],"unstable":[173],"behavior":[174],"passivated":[175],"two":[178,193],"strategies.":[180],"results":[182],"clearly":[183],"state":[184],"benefits":[186],"introduced":[187],"relevant":[194],"cases.":[195]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-13T16:22:10.518609","created_date":"2025-10-10T00:00:00"}
