{"id":"https://openalex.org/W3212908658","doi":"https://doi.org/10.1109/iecon48115.2021.9589845","title":"Task Space Bilateral Teleoperation of Co-manipulators using Power-based TDPC and Leader-follower Admittance Control","display_name":"Task Space Bilateral Teleoperation of Co-manipulators using Power-based TDPC and Leader-follower Admittance Control","publication_year":2021,"publication_date":"2021-10-13","ids":{"openalex":"https://openalex.org/W3212908658","doi":"https://doi.org/10.1109/iecon48115.2021.9589845","mag":"3212908658"},"language":"en","primary_location":{"id":"doi:10.1109/iecon48115.2021.9589845","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon48115.2021.9589845","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2021 \u2013 47th Annual Conference of the IEEE Industrial Electronics Society","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/A5102573130","display_name":"Cai Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Chen Cai","raw_affiliation_strings":["Dalhousie University, Halifax, Canada"],"affiliations":[{"raw_affiliation_string":"Dalhousie University, Halifax, Canada","institution_ids":["https://openalex.org/I129902397"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065758992","display_name":"Ya\u2010Jun Pan","orcid":"https://orcid.org/0000-0002-8700-0956"},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ya-Jun Pan","raw_affiliation_strings":["Dalhousie University, Halifax, Canada"],"affiliations":[{"raw_affiliation_string":"Dalhousie University, Halifax, Canada","institution_ids":["https://openalex.org/I129902397"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010945720","display_name":"Steven Liu","orcid":"https://orcid.org/0000-0002-3407-2745"},"institutions":[{"id":"https://openalex.org/I153267046","display_name":"University of Kaiserslautern","ror":"https://ror.org/04zrf7b53","country_code":"DE","type":"education","lineage":["https://openalex.org/I153267046"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Steven Liu","raw_affiliation_strings":["Institute of Control Systems, University of Kaiserslautern, Kaiserslautern, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Control Systems, University of Kaiserslautern, Kaiserslautern, Germany","institution_ids":["https://openalex.org/I153267046"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053241912","display_name":"Lucas Wan","orcid":"https://orcid.org/0000-0002-4239-0110"},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Lucas Wan","raw_affiliation_strings":["Dalhousie University, Halifax, Canada"],"affiliations":[{"raw_affiliation_string":"Dalhousie University, Halifax, Canada","institution_ids":["https://openalex.org/I129902397"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5102573130"],"corresponding_institution_ids":["https://openalex.org/I129902397"],"apc_list":null,"apc_paid":null,"fwci":0.4437,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.59314683,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9369999766349792,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9315999746322632,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8596330881118774},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.6990143060684204},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6249370574951172},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6233285069465637},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.5965082049369812},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.511237621307373},{"id":"https://openalex.org/keywords/master/slave","display_name":"Master/slave","score":0.49206799268722534},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.488647997379303},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4744264483451843},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4697053134441376},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.44101226329803467},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4206986129283905},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39690887928009033},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3850688636302948},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3775888681411743},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21654203534126282},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21481236815452576},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14398422837257385},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.09366503357887268}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8596330881118774},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.6990143060684204},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6249370574951172},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6233285069465637},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.5965082049369812},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.511237621307373},{"id":"https://openalex.org/C20454292","wikidata":"https://www.wikidata.org/wiki/Q735523","display_name":"Master/slave","level":2,"score":0.49206799268722534},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.488647997379303},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4744264483451843},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4697053134441376},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.44101226329803467},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4206986129283905},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39690887928009033},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3850688636302948},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3775888681411743},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21654203534126282},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21481236815452576},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14398422837257385},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.09366503357887268},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/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/iecon48115.2021.9589845","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon48115.2021.9589845","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2021 \u2013 47th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W1967390389","https://openalex.org/W2037026609","https://openalex.org/W2118006706","https://openalex.org/W2124237013","https://openalex.org/W2132980426","https://openalex.org/W2153631465","https://openalex.org/W2166083889","https://openalex.org/W2792977930","https://openalex.org/W2906956407","https://openalex.org/W2921775155","https://openalex.org/W3157948154","https://openalex.org/W4243385754"],"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":{"In":[0],"this":[1],"paper,":[2],"the":[3,23,34,38,60,65,68,72,84,97,101,114,117,143,146,149,159,178,188,193,197],"bilateral":[4],"teleoperation":[5],"of":[6,43,67,74,83,100,116,145,192,199],"cooperative":[7,120],"manipulators":[8],"is":[9,57,124,135,166],"achieved":[10],"and":[11,16,21,77,190,202],"experimentally":[12],"analyzed.":[13],"The":[14,109,163],"master":[15,24,102],"slave":[17,44,104,110],"robots":[18],"are":[19,31,46,78,184],"asymmetrical,":[20],"only":[22],"end":[25],"effector\u2019s":[26],"task":[27,39],"space":[28,40],"velocity":[29],"signals":[30,42],"transmitted":[32],"through":[33],"communication":[35,69,85,174,180],"network,":[36],"while":[37,148],"force":[41],"robot":[45,111,134,151,165],"relayed":[47],"back.":[48],"A":[49],"power-based":[50],"time":[51,89],"domain":[52],"passivity":[53,66],"control":[54,139,155],"(PTDPC)":[55],"approach":[56],"employed":[58],"for":[59],"controller":[61],"design":[62],"to":[63,80,106,126,141,157,169,186],"ensure":[64],"channel":[70,86],"in":[71,196],"presence":[73,198],"time-varying":[75,201],"delays":[76],"applied":[79],"each":[81],"side":[82],"at":[87],"every":[88],"constant.":[90],"This":[91,132],"model-free":[92],"method":[93,156],"does":[94],"not":[95,167],"require":[96],"dynamic":[98],"models":[99],"or":[103,171],"systems":[105],"be":[107],"known.":[108],"acts":[112],"as":[113],"leader":[115,133],"remote":[118],"dual-arm":[119],"manipulator":[121],"system":[122],"that":[123],"used":[125],"manipulate":[127],"a":[128],"common":[129],"rigid":[130],"object.":[131],"controlled":[136],"using":[137],"position":[138],"mode":[140],"track":[142],"trajectory":[144],"master,":[147],"follower":[150,164],"employs":[152],"an":[153],"admittance":[154],"follow":[158],"leader\u2019s":[160],"motion":[161],"trend.":[162],"required":[168],"transmit":[170],"receive":[172],"any":[173],"data,":[175],"which":[176],"simplifies":[177],"network":[179],"topology.":[181],"Experimental":[182],"results":[183],"presented":[185],"verify":[187],"effectiveness":[189],"simplicity":[191],"designed":[194],"framework":[195],"large,":[200],"asymmetric":[203],"delays.":[204]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}