{"id":"https://openalex.org/W2092195088","doi":"https://doi.org/10.1109/iros.2012.6385859","title":"A simple controller for a variable stiffness joint with uncertain dynamics and prescribed performance guarantees","display_name":"A simple controller for a variable stiffness joint with uncertain dynamics and prescribed performance guarantees","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2092195088","doi":"https://doi.org/10.1109/iros.2012.6385859","mag":"2092195088"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385859","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5013732957","display_name":"Efi Psomopoulou","orcid":"https://orcid.org/0000-0003-3883-4097"},"institutions":[{"id":"https://openalex.org/I21370196","display_name":"Aristotle University of Thessaloniki","ror":"https://ror.org/02j61yw88","country_code":"GR","type":"education","lineage":["https://openalex.org/I21370196"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Efi Psomopoulou","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Thessaloniki, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Thessaloniki, Greece","institution_ids":["https://openalex.org/I21370196"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079421769","display_name":"Zoe Doulgeri","orcid":"https://orcid.org/0000-0003-2188-9358"},"institutions":[{"id":"https://openalex.org/I21370196","display_name":"Aristotle University of Thessaloniki","ror":"https://ror.org/02j61yw88","country_code":"GR","type":"education","lineage":["https://openalex.org/I21370196"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Zoe Doulgeri","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Thessaloniki, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Thessaloniki, Greece","institution_ids":["https://openalex.org/I21370196"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050680939","display_name":"George A. Rovithakis","orcid":"https://orcid.org/0000-0002-1158-9178"},"institutions":[{"id":"https://openalex.org/I21370196","display_name":"Aristotle University of Thessaloniki","ror":"https://ror.org/02j61yw88","country_code":"GR","type":"education","lineage":["https://openalex.org/I21370196"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"George A. Rovithakis","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Thessaloniki, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Thessaloniki, Greece","institution_ids":["https://openalex.org/I21370196"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I21370196","display_name":"Aristotle University of Thessaloniki","ror":"https://ror.org/02j61yw88","country_code":"GR","type":"education","lineage":["https://openalex.org/I21370196"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["GR","IT"],"is_corresponding":false,"raw_author_name":"Nikos G. Tsagarakis","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Thessaloniki, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Thessaloniki, Greece","institution_ids":["https://openalex.org/I21370196"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6213,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.70715514,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"5071","last_page":"5076"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9990000128746033,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9868000149726868,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9839000105857849,"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/control-theory","display_name":"Control theory (sociology)","score":0.7849515676498413},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6983063220977783},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6449201107025146},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6396439671516418},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.6367325782775879},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6221284866333008},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.5649031400680542},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5610088109970093},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5340325832366943},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.48771438002586365},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.47739046812057495},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4607658386230469},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35558849573135376},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2870582342147827},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20089459419250488},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19071105122566223},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13160118460655212},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.05192950367927551}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7849515676498413},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6983063220977783},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6449201107025146},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6396439671516418},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.6367325782775879},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6221284866333008},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.5649031400680542},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5610088109970093},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5340325832366943},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.48771438002586365},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.47739046812057495},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4607658386230469},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35558849573135376},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2870582342147827},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20089459419250488},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19071105122566223},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13160118460655212},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.05192950367927551},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2012.6385859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385859","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:research-information.bris.ac.uk:openaire_cris_publications/8e9ed3da-2613-47c1-bafd-0ba0bd53f2ed","is_oa":false,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/8e9ed3da-2613-47c1-bafd-0ba0bd53f2ed","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Psomopoulou, E, Doulgeri, Z, Rovithakis, G A & Tsagarakis, N G 2012, A simple controller for a variable stiffness joint with uncertain dynamics and prescribed performance guarantees. in IEEE International Conference on Intelligent Robots and Systems. https://doi.org/10.1109/IROS.2012.6385859","raw_type":"contributionToPeriodical"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.47999998927116394,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1512338139","https://openalex.org/W2005033650","https://openalex.org/W2034224351","https://openalex.org/W2042846337","https://openalex.org/W2049850481","https://openalex.org/W2078623127","https://openalex.org/W2088841726","https://openalex.org/W2096178249","https://openalex.org/W2097121541","https://openalex.org/W2113899190","https://openalex.org/W2120630110","https://openalex.org/W2125955904","https://openalex.org/W2126171192","https://openalex.org/W2128137193","https://openalex.org/W2131404784","https://openalex.org/W2138691337","https://openalex.org/W2142621959","https://openalex.org/W2162036575","https://openalex.org/W2170519810","https://openalex.org/W3045552261","https://openalex.org/W6630816804","https://openalex.org/W6651657403","https://openalex.org/W6680820436","https://openalex.org/W6780721898"],"related_works":["https://openalex.org/W2083759350","https://openalex.org/W3133687580","https://openalex.org/W2021098562","https://openalex.org/W1566538768","https://openalex.org/W1897710365","https://openalex.org/W2317038355","https://openalex.org/W2942851934","https://openalex.org/W4386883573","https://openalex.org/W2116005591","https://openalex.org/W2736573057"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"a":[3,8],"simple":[4],"tracking":[5],"controller":[6,20],"for":[7],"variable":[9],"stiffness":[10,24],"joint":[11,45],"is":[12,16],"proposed.":[13],"System":[14],"dynamics":[15],"considered":[17],"unknown.":[18],"The":[19],"guarantees":[21],"link":[22],"and":[23],"motor":[25],"position":[26],"performance":[27],"specifications":[28],"that":[29],"have":[30],"been":[31],"apriori":[32],"set,":[33],"utilizing":[34],"full":[35],"state":[36],"feedback.":[37],"Simulation":[38],"results":[39],"on":[40],"the":[41,47,50],"previously":[42],"published":[43],"CompAct-VSA":[44],"validate":[46],"efficiency":[48],"of":[49],"proposed":[51],"control":[52],"approach.":[53]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
