{"id":"https://openalex.org/W2068283884","doi":"https://doi.org/10.1109/iros.2013.6696766","title":"Lyapunov-stable position/force control based on dual nature in constraint motion","display_name":"Lyapunov-stable position/force control based on dual nature in constraint motion","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2068283884","doi":"https://doi.org/10.1109/iros.2013.6696766","mag":"2068283884"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696766","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696766","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5073454546","display_name":"Mamoru Minami","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mamoru Minami","raw_affiliation_strings":["School of Natural Science and Technology, Okayama University, Okayama, JAPAN","Grad. Sch. of Natural Sci. & Technol., Okayama Univ. Tsushimanaka, Okayama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Natural Science and Technology, Okayama University, Okayama, JAPAN","institution_ids":["https://openalex.org/I163770644"]},{"raw_affiliation_string":"Grad. Sch. of Natural Sci. & Technol., Okayama Univ. Tsushimanaka, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101918704","display_name":"Fujia Yu","orcid":"https://orcid.org/0000-0002-7245-674X"},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fujia Yu","raw_affiliation_strings":["School of Natural Science and Technology, Okayama University, Okayama, JAPAN","Grad. Sch. of Natural Sci. & Technol., Okayama Univ. Tsushimanaka, Okayama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Natural Science and Technology, Okayama University, Okayama, JAPAN","institution_ids":["https://openalex.org/I163770644"]},{"raw_affiliation_string":"Grad. Sch. of Natural Sci. & Technol., Okayama Univ. Tsushimanaka, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005631553","display_name":"Akira Yanou","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akira Yanou","raw_affiliation_strings":["School of Natural Science and Technology, Okayama University, Okayama, JAPAN","Grad. Sch. of Natural Sci. & Technol., Okayama Univ. Tsushimanaka, Okayama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Natural Science and Technology, Okayama University, Okayama, JAPAN","institution_ids":["https://openalex.org/I163770644"]},{"raw_affiliation_string":"Grad. Sch. of Natural Sci. & Technol., Okayama Univ. Tsushimanaka, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.1434282,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"71","issue":null,"first_page":"2894","last_page":"2901"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9993000030517578,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9980000257492065,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.7101477980613708},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.663512647151947},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6201258897781372},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6150295734405518},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5716206431388855},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5613712072372437},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.49898314476013184},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.44551989436149597},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4363715350627899},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.42531827092170715},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35384804010391235},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23010659217834473},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20052528381347656},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17514026165008545},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.0748530924320221}],"concepts":[{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.7101477980613708},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.663512647151947},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6201258897781372},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6150295734405518},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5716206431388855},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5613712072372437},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.49898314476013184},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.44551989436149597},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4363715350627899},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.42531827092170715},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35384804010391235},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23010659217834473},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20052528381347656},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17514026165008545},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0748530924320221},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"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/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2013.6696766","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696766","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6100000143051147}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W625508440","https://openalex.org/W1507164957","https://openalex.org/W1967377907","https://openalex.org/W1968047062","https://openalex.org/W1978023077","https://openalex.org/W1997520484","https://openalex.org/W2016958754","https://openalex.org/W2043739434","https://openalex.org/W2077110993","https://openalex.org/W2086756762","https://openalex.org/W2096498654","https://openalex.org/W2132195935","https://openalex.org/W2148806858","https://openalex.org/W2150471469","https://openalex.org/W2152737511","https://openalex.org/W2152796007","https://openalex.org/W2154795371","https://openalex.org/W2165092969","https://openalex.org/W2327078483","https://openalex.org/W2478584275","https://openalex.org/W2504767057"],"related_works":["https://openalex.org/W1495042958","https://openalex.org/W2494338568","https://openalex.org/W2122678784","https://openalex.org/W2282510344","https://openalex.org/W139987158","https://openalex.org/W2183994405","https://openalex.org/W1875646599","https://openalex.org/W2807251790","https://openalex.org/W2349023125","https://openalex.org/W4253006236"],"abstract_inverted_index":{"In":[0],"the":[1,4,51,54,61,89,101],"model":[2],"of":[3,8,25,53,56,75,103],"constrained":[5,16,62],"dynamic":[6],"system":[7],"a":[9,30,41,107,121],"rigid":[10,14],"robot":[11,123],"contacting":[12],"with":[13],"environment,":[15],"forces":[17,59,63],"can":[18],"be":[19],"expressed":[20],"as":[21],"an":[22],"algebraic":[23],"function":[24],"states":[26],"(instantaneous":[27],"process)":[28],"and":[29,43,64,94,99],"redundancy":[31,55],"existing":[32],"in":[33,79,106,124],"constraint":[34,76],"dynamics":[35],"(constraint":[36],"redundancy).":[37],"Using":[38],"these":[39],"results,":[40],"force":[42,70,91],"position":[44],"control":[45],"law":[46],"is":[47],"proposed":[48],"by":[49,85,120],"taking":[50],"advantages":[52],"input":[57],"generalized":[58],"to":[60,96,111],"instantaneous":[65],"process":[66],"without":[67],"involving":[68],"any":[69],"sensor,":[71],"using":[72],"dual":[73],"nature":[74],"motion":[77,102],"stated":[78],"this":[80],"document.":[81],"Then":[82],"proof":[83],"confirming":[84],"Lyapunov":[86],"method":[87],"that":[88,100],"exerting":[90],"equals":[92],"instantaneously":[93],"constantly":[95],"desired":[97,112],"one":[98],"robot's":[104],"hand":[105],"movable":[108],"space":[109],"converges":[110],"hand's":[113],"position.":[114],"The":[115],"effectiveness":[116],"has":[117],"been":[118],"confirmed":[119],"2-link":[122],"simulations.":[125]},"counts_by_year":[{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
