{"id":"https://openalex.org/W2024286326","doi":"https://doi.org/10.1109/iros.2010.5649183","title":"Time-delayed bilateral teleoperation with force estimation for n-DOF nonlinear robot manipulators","display_name":"Time-delayed bilateral teleoperation with force estimation for n-DOF nonlinear robot manipulators","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2024286326","doi":"https://doi.org/10.1109/iros.2010.5649183","mag":"2024286326"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5649183","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5649183","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","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/A5103375964","display_name":"J.M. Daly","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"J M Daly","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ONT, Canada","Dept. of Electrical and Computer Engineering, University of Waterloo, 200 University Avenue West, Ontario, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ONT, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Dept. of Electrical and Computer Engineering, University of Waterloo, 200 University Avenue West, Ontario, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059271743","display_name":"D W L Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"D W L Wang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ONT, Canada","Dept. of Electrical and Computer Engineering, University of Waterloo, 200 University Avenue West, Ontario, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ONT, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Dept. of Electrical and Computer Engineering, University of Waterloo, 200 University Avenue West, Ontario, Canada","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I151746483"],"apc_list":null,"apc_paid":null,"fwci":4.6564,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.94255394,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3911","last_page":"3918"},"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":0.9575999975204468,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.953000009059906,"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":0.8971190452575684},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6929269433021545},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6278175115585327},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5833301544189453},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5464653968811035},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5069980621337891},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.4193265438079834},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20052435994148254},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16362911462783813},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15270879864692688},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12575963139533997}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8971190452575684},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6929269433021545},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6278175115585327},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5833301544189453},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5464653968811035},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5069980621337891},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.4193265438079834},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20052435994148254},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16362911462783813},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15270879864692688},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12575963139533997},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2010.5649183","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5649183","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6600000262260437,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1496777766","https://openalex.org/W1499117269","https://openalex.org/W1872203625","https://openalex.org/W2090972408","https://openalex.org/W2097347938","https://openalex.org/W2104163581","https://openalex.org/W2108052496","https://openalex.org/W2108881220","https://openalex.org/W2119936308","https://openalex.org/W2124237013","https://openalex.org/W2135464393","https://openalex.org/W2146157730","https://openalex.org/W2153080347","https://openalex.org/W2586143077","https://openalex.org/W6682096983"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W2097059456","https://openalex.org/W817518365","https://openalex.org/W2145103607","https://openalex.org/W2141648055","https://openalex.org/W4367662652","https://openalex.org/W2145960295","https://openalex.org/W2013463538","https://openalex.org/W2078176643","https://openalex.org/W2067221866"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,62,74],"novel":[4],"bilateral":[5],"teleoperation":[6,76],"algorithm":[7],"for":[8,37,54,82,103],"n":[9],"degree":[10],"of":[11,29,48,70,73,80,84,111,121],"freedom":[12],"nonlinear":[13],"manipulators":[14,89],"connected":[15],"through":[16],"communication":[17],"networks":[18],"with":[19],"time":[20,112],"delays.":[21,113],"Central":[22],"to":[23,61],"this":[24,122],"approach":[25,123],"is":[26,96],"the":[27,39,44,52,71,85,104,109,119],"use":[28,47],"second":[30],"order":[31],"sliding":[32],"mode":[33],"unknown":[34],"input":[35],"observers":[36,50,93],"estimating":[38],"external":[40],"forces":[41],"acting":[42],"on":[43],"manipulators.":[45],"The":[46],"these":[49],"removes":[51],"need":[53],"both":[55],"velocity":[56],"and":[57,87,90,94],"force":[58],"sensors,":[59],"leading":[60],"lower":[63],"cost":[64],"hardware":[65],"setup":[66],"that":[67],"provides":[68],"all":[69],"advantages":[72],"position-force":[75],"algorithm.":[77],"A":[78],"proof":[79],"stability":[81,101],"each":[83],"master":[86],"slave":[88],"their":[91],"associated":[92],"controllers":[95],"given,":[97],"as":[98,100],"well":[99],"results":[102,115],"entire":[105],"closed":[106],"loop":[107],"in":[108,124],"presence":[110],"Experimental":[114],"are":[116],"presented,":[117],"confirming":[118],"validity":[120],"practice.":[125]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
