{"id":"https://openalex.org/W2002739521","doi":"https://doi.org/10.1109/iros.2014.6943201","title":"Parallel active/passive force control of industrial robots with joint compliance","display_name":"Parallel active/passive force control of industrial robots with joint compliance","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2002739521","doi":"https://doi.org/10.1109/iros.2014.6943201","mag":"2002739521"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6943201","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943201","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 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/A5022246915","display_name":"Arun Dayal Udai","orcid":"https://orcid.org/0000-0001-9629-1110"},"institutions":[{"id":"https://openalex.org/I68891433","display_name":"Indian Institute of Technology Delhi","ror":"https://ror.org/049tgcd06","country_code":"IN","type":"education","lineage":["https://openalex.org/I68891433"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Arun Dayal Udai","raw_affiliation_strings":["Department of Mechanical Engineering IIT, Delhi","Department of Mechanical Engineering, IIT, Delhi, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering IIT, Delhi","institution_ids":["https://openalex.org/I68891433"]},{"raw_affiliation_string":"Department of Mechanical Engineering, IIT, Delhi, India","institution_ids":["https://openalex.org/I68891433"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086990384","display_name":"Abdullah Aamir Hayat","orcid":"https://orcid.org/0000-0001-6141-4600"},"institutions":[{"id":"https://openalex.org/I68891433","display_name":"Indian Institute of Technology Delhi","ror":"https://ror.org/049tgcd06","country_code":"IN","type":"education","lineage":["https://openalex.org/I68891433"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Abdullah Aamir Hayat","raw_affiliation_strings":["Department of Mechanical Engineering IIT, Delhi","Department of Mechanical Engineering, IIT, Delhi, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering IIT, Delhi","institution_ids":["https://openalex.org/I68891433"]},{"raw_affiliation_string":"Department of Mechanical Engineering, IIT, Delhi, India","institution_ids":["https://openalex.org/I68891433"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037739037","display_name":"Subir Kumar Saha","orcid":"https://orcid.org/0000-0002-3681-8061"},"institutions":[{"id":"https://openalex.org/I68891433","display_name":"Indian Institute of Technology Delhi","ror":"https://ror.org/049tgcd06","country_code":"IN","type":"education","lineage":["https://openalex.org/I68891433"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Subir Kumar Saha","raw_affiliation_strings":["Department of Mechanical Engineering IIT, Delhi","Department of Mechanical Engineering, IIT, Delhi, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering IIT, Delhi","institution_ids":["https://openalex.org/I68891433"]},{"raw_affiliation_string":"Department of Mechanical Engineering, IIT, Delhi, India","institution_ids":["https://openalex.org/I68891433"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I68891433"],"apc_list":null,"apc_paid":null,"fwci":1.6417,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.85375697,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4511","last_page":"4516"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9972000122070312,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9860000014305115,"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/robot","display_name":"Robot","score":0.720235288143158},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7098675966262817},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.636078953742981},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6165888905525208},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6092478632926941},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5496562123298645},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4847992956638336},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4711524248123169},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4681083858013153},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4304687976837158},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3881402611732483},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.36170971393585205},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2910473942756653},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11000493168830872},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07023191452026367}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.720235288143158},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7098675966262817},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.636078953742981},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6165888905525208},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6092478632926941},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5496562123298645},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4847992956638336},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4711524248123169},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4681083858013153},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4304687976837158},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3881402611732483},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.36170971393585205},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2910473942756653},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11000493168830872},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07023191452026367},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2014.6943201","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943201","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"display_name":"Decent work and economic growth","id":"https://metadata.un.org/sdg/8"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1635955860","https://openalex.org/W1997520484","https://openalex.org/W2023720286","https://openalex.org/W2036375864","https://openalex.org/W2043761005","https://openalex.org/W2077326740","https://openalex.org/W2080426295","https://openalex.org/W2098085850","https://openalex.org/W2098092946","https://openalex.org/W2099184899","https://openalex.org/W2099915711","https://openalex.org/W2121693658","https://openalex.org/W2133443903","https://openalex.org/W2159319328","https://openalex.org/W2162179351","https://openalex.org/W2169100281","https://openalex.org/W4242038360","https://openalex.org/W6636686504","https://openalex.org/W6675251542"],"related_works":["https://openalex.org/W1964490400","https://openalex.org/W1968518598","https://openalex.org/W229301543","https://openalex.org/W3117511302","https://openalex.org/W2914399220","https://openalex.org/W2157702526","https://openalex.org/W2570672926","https://openalex.org/W2973183922","https://openalex.org/W3174748874","https://openalex.org/W4378191988"],"abstract_inverted_index":{"Active":[0,126],"force":[1,57,127,135],"control":[2,58,128],"of":[3,40,95,142],"an":[4,8,92],"industrial":[5,15,110],"robot":[6,28,97,111,122],"with":[7,46,72,119],"end-effector":[9,61],"force/torque":[10,65],"sensor":[11,66],"effectively":[12],"handles":[13],"compliant":[14],"tasks":[16],"like":[17],"assembly":[18],"operations,":[19],"surface":[20],"finishing":[21],"jobs,":[22],"cooperative":[23],"manipulation,":[24],"etc.":[25],"However,":[26],"the":[27,38,41,47,60,85,96,140,143],"still":[29],"remains":[30],"intrinsically":[31],"unsafe":[32],"for":[33,55,114],"dynamically":[34],"changing":[35],"environment":[36,48],"where":[37],"chances":[39],"links":[42],"coming":[43],"in":[44,123],"contact":[45,137],"exists.":[49],"This":[50],"paper":[51],"proposes":[52],"a":[53,63,106,133],"scheme":[54],"active":[56],"at":[59],"using":[62],"six-component":[64],"through":[67],"external":[68],"force-control":[69],"loop":[70],"along":[71],"steady-state":[73],"error":[74],"compensator.":[75],"In":[76],"parallel,":[77],"passive":[78,115],"joint":[79,88],"compliance":[80,116],"was":[81,103,129],"achieved":[82],"by":[83,117],"limiting":[84],"currents":[86],"to":[87,131,138],"motors":[89],"based":[90],"on":[91,105,136],"identified":[93],"model":[94],"under":[98],"study.":[99],"The":[100],"proposed":[101],"method":[102],"implemented":[104],"KUKA":[107],"KR5":[108],"ARC":[109],"and":[112],"tested":[113,130],"colliding":[118],"another":[120],"moving":[121],"its":[124],"workspace.":[125],"maintain":[132],"desired":[134],"demonstrate":[139],"effectiveness":[141],"controller.":[144]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}