{"id":"https://openalex.org/W4310971894","doi":"https://doi.org/10.1109/iecon49645.2022.9968930","title":"High-Performance Admittance Control of An Industrial Robot Via Disturbance Observer","display_name":"High-Performance Admittance Control of An Industrial Robot Via Disturbance Observer","publication_year":2022,"publication_date":"2022-10-17","ids":{"openalex":"https://openalex.org/W4310971894","doi":"https://doi.org/10.1109/iecon49645.2022.9968930"},"language":"en","primary_location":{"id":"doi:10.1109/iecon49645.2022.9968930","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon49645.2022.9968930","pdf_url":null,"source":{"id":"https://openalex.org/S4363607717","display_name":"IECON 2022 \u2013 48th Annual Conference of the IEEE Industrial Electronics Society","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2022 \u2013 48th 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/A5018618691","display_name":"Kangwagye Samuel","orcid":"https://orcid.org/0000-0002-7791-3356"},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Kangwagye Samuel","raw_affiliation_strings":["DGIST,Department of Robotics and Mechatronics Engineering,Daegu,Korea"],"affiliations":[{"raw_affiliation_string":"DGIST,Department of Robotics and Mechatronics Engineering,Daegu,Korea","institution_ids":["https://openalex.org/I193352282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002775217","display_name":"Kevin Haninger","orcid":"https://orcid.org/0000-0002-5294-5458"},"institutions":[{"id":"https://openalex.org/I4210148503","display_name":"Fraunhofer Institute for Production Systems and Design Technology","ror":"https://ror.org/045eg9c12","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210148503","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kevin Haninger","raw_affiliation_strings":["Fraunhofer IPK,Department of Automation,Berlin,Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer IPK,Department of Automation,Berlin,Germany","institution_ids":["https://openalex.org/I4210148503"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007243736","display_name":"Sehoon Oh","orcid":"https://orcid.org/0000-0003-0838-163X"},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sehoon Oh","raw_affiliation_strings":["DGIST,Department of Robotics and Mechatronics Engineering,Daegu,Korea"],"affiliations":[{"raw_affiliation_string":"DGIST,Department of Robotics and Mechatronics Engineering,Daegu,Korea","institution_ids":["https://openalex.org/I193352282"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5018618691"],"corresponding_institution_ids":["https://openalex.org/I193352282"],"apc_list":null,"apc_paid":null,"fwci":7.0278,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.98399229,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"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":0.9997000098228455,"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":0.9988999962806702,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9943000078201294,"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/admittance","display_name":"Admittance","score":0.8880339860916138},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7992844581604004},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7167128324508667},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.6076017618179321},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5159012079238892},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.48941317200660706},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4751867353916168},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.444801926612854},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4385034143924713},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3843717575073242},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35543835163116455},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.29743528366088867},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19601953029632568},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18502378463745117},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.09950733184814453}],"concepts":[{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.8880339860916138},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7992844581604004},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7167128324508667},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.6076017618179321},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5159012079238892},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.48941317200660706},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4751867353916168},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.444801926612854},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4385034143924713},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3843717575073242},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35543835163116455},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29743528366088867},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19601953029632568},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18502378463745117},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.09950733184814453},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iecon49645.2022.9968930","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon49645.2022.9968930","pdf_url":null,"source":{"id":"https://openalex.org/S4363607717","display_name":"IECON 2022 \u2013 48th Annual Conference of the IEEE Industrial Electronics Society","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2022 \u2013 48th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:publications/22d62842-748f-435e-b681-0facfe2c1194","is_oa":false,"landing_page_url":"https://vbn.aau.dk/da/publications/22d62842-748f-435e-b681-0facfe2c1194","pdf_url":null,"source":{"id":"https://openalex.org/S4306401731","display_name":"VBN Forskningsportal (Aalborg Universitet)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I891191580","host_organization_name":"Aalborg University","host_organization_lineage":["https://openalex.org/I891191580"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Samuel, K, Haninger, K & Oh, S 2022, High-Performance Admittance Control of An Industrial Robot Via Disturbance Observer. in IECON 2022 - 48th Annual Conference of the IEEE Industrial Electronics Society. IEEE Computer Society Press, IECON Proceedings (Industrial Electronics Conference), vol. 2022-October, 48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022, Brussels, Belgium, 17/10/2022. https://doi.org/10.1109/IECON49645.2022.9968930","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:null:publica/445349","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/445349","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1915646632","https://openalex.org/W2009192474","https://openalex.org/W2031126890","https://openalex.org/W2096323098","https://openalex.org/W2107207454","https://openalex.org/W2133930957","https://openalex.org/W2416909497","https://openalex.org/W2523980053","https://openalex.org/W2771354076","https://openalex.org/W2792539092","https://openalex.org/W2872947583","https://openalex.org/W2891619644","https://openalex.org/W2895521724","https://openalex.org/W2915264809","https://openalex.org/W2968966582","https://openalex.org/W3003902367","https://openalex.org/W3048108190","https://openalex.org/W3126706461","https://openalex.org/W3195040544","https://openalex.org/W3212731325","https://openalex.org/W4206575926","https://openalex.org/W4211008954","https://openalex.org/W6755787603","https://openalex.org/W6807198136"],"related_works":["https://openalex.org/W3205034227","https://openalex.org/W1594265855","https://openalex.org/W2740013582","https://openalex.org/W2350319669","https://openalex.org/W2387672602","https://openalex.org/W2887125121","https://openalex.org/W2145590848","https://openalex.org/W2755887994","https://openalex.org/W2369699286","https://openalex.org/W3149490355"],"abstract_inverted_index":{"Safe":[0],"physical":[1],"interaction":[2,41],"using":[3],"admittance":[4,24,38,51,99,135],"control":[5,13,31,52,81,119,136],"on":[6,123,151],"an":[7,40],"industrial":[8,127],"robot":[9,91,95,106,128,154],"with":[10,43],"inner-loop":[11,29,63],"motion":[12,30,64],"remains":[14],"challenging.":[15],"This":[16],"is":[17,58,147],"partly":[18],"due":[19],"to":[20,60,104,114,149],"the":[21,37,44,67,75,83,89,117,130,133,144,152],"low":[22],"intrinsic":[23],"and":[25,93,138],"stability":[26,139],"issues":[27],"from":[28],"limitations":[32],"(e.g.":[33],"bandwidth).":[34],"To":[35],"increase":[36],"at":[39],"point":[42],"user/environment,":[45],"this":[46],"paper":[47],"proposes":[48],"a":[49,124],"robust":[50],"architecture.":[53],"A":[54],"disturbance":[55],"observer":[56],"(DOB)":[57],"used":[59],"improve":[61],"effective":[62],"control,":[65],"suppressing":[66],"effects":[68],"of":[69,132],"velocity":[70,80,92,96,107],"disturbances.":[71],"The":[72],"DOB":[73],"uses":[74,101],"robot's":[76],"closed-loop":[77],"task":[78],"space":[79],"as":[82],"nominal":[84],"model,":[85],"compensating":[86],"disturbances":[87],"between":[88],"commanded":[90],"realized":[94],"output.":[97],"An":[98],"controller":[100],"measured":[102],"force":[103],"generate":[105],"commands.":[108],"Detailed":[109],"analyses":[110],"are":[111],"carried":[112],"out":[113],"theoretically":[115],"evaluate":[116],"proposed":[118,134,145],"system.":[120,155],"Experiments":[121],"conducted":[122],"COMAU":[125],"RACER-7-1.4":[126],"verify":[129],"effectiveness":[131],"scheme":[137],"in":[140],"environmental":[141],"contact.":[142],"Moreover,":[143],"method":[146],"simple":[148],"implement":[150],"existing":[153]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":10}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
