{"id":"https://openalex.org/W2114738202","doi":"https://doi.org/10.1109/iros.2003.1249316","title":"Time domain passivity control with reference energy behavior","display_name":"Time domain passivity control with reference energy behavior","publication_year":2004,"publication_date":"2004-07-08","ids":{"openalex":"https://openalex.org/W2114738202","doi":"https://doi.org/10.1109/iros.2003.1249316","mag":"2114738202"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1249316","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1249316","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","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/A5103403488","display_name":"Jee-Hwan Ryu","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jee-Hwan Ryu","raw_affiliation_strings":["Department of Electrical Engineering, University of Washington, Seattle, WA, USA","[Dept. of Electr. Eng., Washington Univ., Seattle, WA, USA]"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"[Dept. of Electr. Eng., Washington Univ., Seattle, WA, USA]","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074967911","display_name":"Blake Hannaford","orcid":"https://orcid.org/0000-0001-7370-4920"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"B. Hannaford","raw_affiliation_strings":["Department of Electrical Engineering, University of Washington, Seattle, WA, USA","[Dept. of Electr. Eng., Washington Univ., Seattle, WA, USA]"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"[Dept. of Electr. Eng., Washington Univ., Seattle, WA, USA]","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049122434","display_name":"Carsten Preusche","orcid":null},"institutions":[{"id":"https://openalex.org/I4391767788","display_name":"Institute of Robotics","ror":"https://ror.org/002cfhw56","country_code":null,"type":"facility","lineage":["https://openalex.org/I24768866","https://openalex.org/I4391767788"]}],"countries":[],"is_corresponding":false,"raw_author_name":"C. Preusche","raw_affiliation_strings":["Department of Robotic Systems, Institute of Robotics and Mechatronics, Germany","Inst. of Robotics and Mechatronics"],"affiliations":[{"raw_affiliation_string":"Department of Robotic Systems, Institute of Robotics and Mechatronics, Germany","institution_ids":[]},{"raw_affiliation_string":"Inst. of Robotics and Mechatronics","institution_ids":["https://openalex.org/I4391767788"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112045231","display_name":"G. Hirzinger","orcid":null},"institutions":[{"id":"https://openalex.org/I4391767788","display_name":"Institute of Robotics","ror":"https://ror.org/002cfhw56","country_code":null,"type":"facility","lineage":["https://openalex.org/I24768866","https://openalex.org/I4391767788"]}],"countries":[],"is_corresponding":false,"raw_author_name":"G. Hirzinger","raw_affiliation_strings":["Department of Robotic Systems, Institute of Robotics and Mechatronics, Germany","Inst. of Robotics and Mechatronics"],"affiliations":[{"raw_affiliation_string":"Department of Robotic Systems, Institute of Robotics and Mechatronics, Germany","institution_ids":[]},{"raw_affiliation_string":"Inst. of Robotics and Mechatronics","institution_ids":["https://openalex.org/I4391767788"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5103403488"],"corresponding_institution_ids":["https://openalex.org/I201448701"],"apc_list":null,"apc_paid":null,"fwci":18.8117,"has_fulltext":false,"cited_by_count":52,"citation_normalized_percentile":{"value":0.99601487,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"3","issue":null,"first_page":"2932","last_page":"2937"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9811999797821045,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9746000170707703,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.9588360786437988},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8110866546630859},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7629278898239136},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.6881553530693054},{"id":"https://openalex.org/keywords/dissipation","display_name":"Dissipation","score":0.6812682151794434},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.6705210208892822},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.615706741809845},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.6047935485839844},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5232726335525513},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4526616334915161},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.4407919943332672},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4357432425022125},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3887118399143219},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31048429012298584},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1972290575504303},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15193107724189758},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11951008439064026},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.0895395278930664}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.9588360786437988},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8110866546630859},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7629278898239136},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.6881553530693054},{"id":"https://openalex.org/C135402231","wikidata":"https://www.wikidata.org/wiki/Q898440","display_name":"Dissipation","level":2,"score":0.6812682151794434},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.6705210208892822},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.615706741809845},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6047935485839844},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5232726335525513},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4526616334915161},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.4407919943332672},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4357432425022125},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3887118399143219},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31048429012298584},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1972290575504303},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15193107724189758},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11951008439064026},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0895395278930664},{"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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2003.1249316","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1249316","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:11981","is_oa":false,"landing_page_url":"https://elib.dlr.de/11981/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzbeitrag"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8999999761581421,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1480135040","https://openalex.org/W1956531938","https://openalex.org/W2028720893","https://openalex.org/W2067522535","https://openalex.org/W2095477585","https://openalex.org/W2099914424","https://openalex.org/W2104870375","https://openalex.org/W2112420768","https://openalex.org/W2124237013","https://openalex.org/W2142813547","https://openalex.org/W2144355672","https://openalex.org/W2144415816","https://openalex.org/W2153631465","https://openalex.org/W2168986517","https://openalex.org/W4214690803","https://openalex.org/W4253698287","https://openalex.org/W6641146072","https://openalex.org/W6667321827","https://openalex.org/W6674874905"],"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/W2017331141"],"abstract_inverted_index":{"A":[0],"recently":[1],"proposed":[2,100],"method":[3,28,51],"for":[4,65],"stabilizing":[5],"haptic":[6,17],"interfaces":[7],"and":[8,23,68,113,115,121],"teleoperation":[9],"systems":[10],"was":[11,29],"tested":[12],"with":[13,108,130],"a":[14,50,54],"\"PHANToM\"":[15],"commercial":[16],"device.":[18,43],"The":[19,99],"\"passivity":[20,24],"observer\"":[21],"(PO)":[22],"controller\"":[25],"(PC)":[26],"stabilization":[27],"formed":[30],"to":[31,52,106],"stabilize":[32],"the":[33,42,66,70,75,80,86,97,131],"system":[34],"but":[35],"also":[36,127],"excite":[37],"high":[38,109],"frequency":[39],"mode":[40],"in":[41],"To":[44],"solve":[45],"this":[46],"problem,":[47],"we":[48,84],"propose":[49],"use":[53],"time-varying":[55,76,81],"desired":[56],"energy":[57,63,72,77,82,133],"threshold":[58,64],"instead":[59],"of":[60],"fixed":[61],"zero":[62],"PO,":[67],"make":[69,85],"actual":[71],"input":[73],"follow":[74],"threshold.":[78],"With":[79],"threshold,":[83],"PC":[87],"control":[88],"action":[89],"smooth":[90,116],"without":[91],"sudden":[92],"impulsive":[93],"behavior":[94],"by":[95],"distributing":[96],"dissipation.":[98],"new":[101],"PO/PC":[102],"approach":[103],"is":[104,118],"applied":[105],"PHANToM":[107],"stiffness":[110],"(K=500":[111],"N/m),":[112],"stable":[114],"contact":[117],"guarantee.":[119],"Resetting":[120],"active":[122],"environment":[123],"display":[124],"problems":[125],"can":[126],"be":[128],"solved":[129],"reference":[132],"following":[134],"idea.":[135]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}