{"id":"https://openalex.org/W4413925312","doi":"https://doi.org/10.1109/icra55743.2025.11128576","title":"Passivity Filters for Bilateral Teleoperation with Variable Impedance Control","display_name":"Passivity Filters for Bilateral Teleoperation with Variable Impedance Control","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925312","doi":"https://doi.org/10.1109/icra55743.2025.11128576"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128576","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128576","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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://hal.science/hal-05156618v1/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093479851","display_name":"Fadi Alyousef Almasalmah","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100283","display_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","ror":"https://ror.org/00k4e5n71","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2801509770","https://openalex.org/I4210095849","https://openalex.org/I4210100283","https://openalex.org/I4210159245","https://openalex.org/I68947357"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Fadi Alyousef Almasalmah","raw_affiliation_strings":["University of Strasbourg,ICube lab,France"],"affiliations":[{"raw_affiliation_string":"University of Strasbourg,ICube lab,France","institution_ids":["https://openalex.org/I4210100283","https://openalex.org/I68947357"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068200195","display_name":"Thibault Poignonec","orcid":"https://orcid.org/0000-0002-7016-7397"},"institutions":[{"id":"https://openalex.org/I4210100283","display_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","ror":"https://ror.org/00k4e5n71","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2801509770","https://openalex.org/I4210095849","https://openalex.org/I4210100283","https://openalex.org/I4210159245","https://openalex.org/I68947357"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Thibault Poignonec","raw_affiliation_strings":["University of Strasbourg,ICube lab,France"],"affiliations":[{"raw_affiliation_string":"University of Strasbourg,ICube lab,France","institution_ids":["https://openalex.org/I4210100283","https://openalex.org/I68947357"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110841364","display_name":"Hassan Omran","orcid":"https://orcid.org/0000-0003-1664-7792"},"institutions":[{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]},{"id":"https://openalex.org/I4210100283","display_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","ror":"https://ror.org/00k4e5n71","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2801509770","https://openalex.org/I4210095849","https://openalex.org/I4210100283","https://openalex.org/I4210159245","https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Hassan Omran","raw_affiliation_strings":["University of Strasbourg,ICube lab,France"],"affiliations":[{"raw_affiliation_string":"University of Strasbourg,ICube lab,France","institution_ids":["https://openalex.org/I4210100283","https://openalex.org/I68947357"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100664416","display_name":"Chao Liu","orcid":"https://orcid.org/0000-0003-0696-3943"},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Chao Liu","raw_affiliation_strings":["University of Montpellier-CNRS,LIRMM Lab,France"],"affiliations":[{"raw_affiliation_string":"University of Montpellier-CNRS,LIRMM Lab,France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210101743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064223962","display_name":"Bernard Bayle","orcid":"https://orcid.org/0000-0003-4728-8593"},"institutions":[{"id":"https://openalex.org/I4210100283","display_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","ror":"https://ror.org/00k4e5n71","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2801509770","https://openalex.org/I4210095849","https://openalex.org/I4210100283","https://openalex.org/I4210159245","https://openalex.org/I68947357"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Bernard Bayle","raw_affiliation_strings":["University of Strasbourg,ICube lab,France"],"affiliations":[{"raw_affiliation_string":"University of Strasbourg,ICube lab,France","institution_ids":["https://openalex.org/I4210100283","https://openalex.org/I68947357"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5093479851"],"corresponding_institution_ids":["https://openalex.org/I4210100283","https://openalex.org/I68947357"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.25008007,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"14323","last_page":"14329"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.967199981212616,"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":0.967199981212616,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.9214069843292236},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.9130102396011353},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5984611511230469},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.560719907283783},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5500766038894653},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5479198098182678},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4717065989971161},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.34908294677734375},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.323544979095459},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3207448422908783},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1297965943813324},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11281770467758179},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0993257462978363}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9214069843292236},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.9130102396011353},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5984611511230469},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.560719907283783},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5500766038894653},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5479198098182678},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4717065989971161},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34908294677734375},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.323544979095459},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3207448422908783},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1297965943813324},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11281770467758179},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0993257462978363},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra55743.2025.11128576","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128576","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-05156618v1","is_oa":true,"landing_page_url":"https://hal.science/hal-05156618","pdf_url":"https://hal.science/hal-05156618v1/document","source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://2025.ieee-icra.org/","raw_type":"Conference papers"},{"id":"pmh:oai:univoak.eu:islandora_176118","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402449","display_name":"univOAK (4 institutions : Universit\u00e9 de Strasbourg, Universit\u00e9 de Haute Alsace, INSA Strasbourg, Biblioth\u00e8que Nationale et Universitaire de Strasbourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210100283","host_organization_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","host_organization_lineage":["https://openalex.org/I4210100283"],"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":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-05156618v1","is_oa":true,"landing_page_url":"https://hal.science/hal-05156618","pdf_url":"https://hal.science/hal-05156618v1/document","source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://2025.ieee-icra.org/","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4413925312.pdf","grobid_xml":"https://content.openalex.org/works/W4413925312.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W1965361141","https://openalex.org/W1967390389","https://openalex.org/W2052513766","https://openalex.org/W2057506468","https://openalex.org/W2098393146","https://openalex.org/W2099914424","https://openalex.org/W2142034596","https://openalex.org/W2142380406","https://openalex.org/W2296039882","https://openalex.org/W2517641405","https://openalex.org/W3106655522","https://openalex.org/W3115157241","https://openalex.org/W3131110707","https://openalex.org/W3137783376","https://openalex.org/W4281622689","https://openalex.org/W4282941302","https://openalex.org/W4313186479","https://openalex.org/W4313316164","https://openalex.org/W4386491258","https://openalex.org/W4398155380"],"related_works":["https://openalex.org/W2090171584","https://openalex.org/W2141321389","https://openalex.org/W2063905323","https://openalex.org/W2099914424","https://openalex.org/W2914607567","https://openalex.org/W3207600904","https://openalex.org/W2126456812","https://openalex.org/W4390338938","https://openalex.org/W2017331141","https://openalex.org/W1969993920"],"abstract_inverted_index":{"In":[0],"robotic":[1,33],"teleoperation,":[2,63],"it":[3],"is":[4,100],"crucial":[5],"to":[6,9,31,92,107],"be":[7],"able":[8],"dynamically":[10],"adjust":[11],"interactions":[12],"with":[13],"the":[14,39,65,87,109],"environment.":[15],"Drawing":[16],"inspiration":[17],"from":[18],"human":[19],"behavior":[20],"during":[21],"interactions,":[22],"Variable":[23],"Impedance":[24],"Control":[25],"(VIC)":[26],"has":[27],"been":[28],"widely":[29],"adopted":[30],"enhance":[32],"flexibility":[34],"and":[35,75,113],"adaptability.":[36],"However,":[37],"maintaining":[38],"passivity":[40],"of":[41,67,95],"such":[42],"control":[43,60],"systems":[44],"remains":[45],"a":[46,93,116],"critical":[47],"safety":[48],"concern.":[49],"This":[50],"paper":[51],"introduces":[52],"an":[53,81],"optimization-based":[54],"framework":[55],"for":[56],"passive":[57,112],"variable":[58,117],"impedance":[59,118],"in":[61],"bilateral":[62],"combining":[64],"advantages":[66],"Passivity":[68,72],"Filters":[69],"(PFs),":[70],"Time-Domain":[71],"(TDP)":[73],"control,":[74],"Passive-Set-Position-Modulation":[76],"(PSPM).":[77],"The":[78,97],"method":[79,99],"solves":[80],"optimization":[82],"problem":[83],"aimed":[84],"at":[85],"dissipating":[86],"energy":[88],"that":[89],"could":[90],"lead":[91],"lack":[94],"passivity.":[96],"proposed":[98],"assessed":[101],"through":[102],"experiments,":[103],"illustrating":[104],"its":[105],"ability":[106],"keep":[108],"teleoperation":[110],"system":[111],"safe":[114],"under":[115],"profile.":[119]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-10T00:00:00"}