{"id":"https://openalex.org/W2211562808","doi":"https://doi.org/10.1109/iros.2015.7353673","title":"An impedance control modification guaranteeing compliance strictly within preselected spatial limits","display_name":"An impedance control modification guaranteeing compliance strictly within preselected spatial limits","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2211562808","doi":"https://doi.org/10.1109/iros.2015.7353673","mag":"2211562808"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353673","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5078037980","display_name":"Achilles Theodorakopoulos","orcid":null},"institutions":[{"id":"https://openalex.org/I4210115690","display_name":"Siemens (Greece)","ror":"https://ror.org/02kpejc28","country_code":"GR","type":"company","lineage":["https://openalex.org/I1325886976","https://openalex.org/I4210115690"]},{"id":"https://openalex.org/I4210124270","display_name":"State Scholarships Foundation","ror":"https://ror.org/023z3dm33","country_code":"GR","type":"other","lineage":["https://openalex.org/I4210124270"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Achilles Theodorakopoulos","raw_affiliation_strings":["IKY Fellowships of Excellence for Postgraduate Studies in Greece - Siemens Program, Greek State Scholarships Foundation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IKY Fellowships of Excellence for Postgraduate Studies in Greece - Siemens Program, Greek State Scholarships Foundation","institution_ids":["https://openalex.org/I4210124270","https://openalex.org/I4210115690"]}]},{"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":["Dept. of Electrical & Computer Engineering, Aristotle University of Thessaloniki, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical & Computer Engineering, Aristotle University of Thessaloniki, Greece","institution_ids":["https://openalex.org/I21370196"]}]},{"author_position":"last","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":["Dept. of Electrical & Computer Engineering, Aristotle University of Thessaloniki, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical & Computer Engineering, Aristotle University of Thessaloniki, Greece","institution_ids":["https://openalex.org/I21370196"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3408,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.66332289,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"2210","last_page":"2215"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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/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":0.9957000017166138,"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/control-theory","display_name":"Control theory (sociology)","score":0.779556155204773},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7434649467468262},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6954370141029358},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6563711762428284},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.6393937468528748},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5085116624832153},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.5067792534828186},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.49094489216804504},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.47515201568603516},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40985384583473206},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32653456926345825},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3086513876914978},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24480703473091125},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.15494871139526367},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15069526433944702},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1421225666999817},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11522355675697327},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.057735174894332886}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.779556155204773},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7434649467468262},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6954370141029358},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6563711762428284},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.6393937468528748},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5085116624832153},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.5067792534828186},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.49094489216804504},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.47515201568603516},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40985384583473206},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32653456926345825},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3086513876914978},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24480703473091125},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.15494871139526367},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15069526433944702},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1421225666999817},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11522355675697327},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.057735174894332886},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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},{"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.2015.7353673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353673","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.41999998688697815,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1484739396","https://openalex.org/W1523815250","https://openalex.org/W1967377907","https://openalex.org/W1975885428","https://openalex.org/W2016958754","https://openalex.org/W2017239762","https://openalex.org/W2078623127","https://openalex.org/W2097121541","https://openalex.org/W2323447981","https://openalex.org/W4205362845","https://openalex.org/W4239216443","https://openalex.org/W6631107258"],"related_works":["https://openalex.org/W3212673989","https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W2078580336","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W2954323201","https://openalex.org/W2583465206","https://openalex.org/W2001273675","https://openalex.org/W4295916778"],"abstract_inverted_index":{"In":[0],"this":[1],"work":[2],"a":[3,6,29,50,54,76,95],"modification":[4],"of":[5,17],"Cartesian":[7],"impedance":[8,79,98],"controller":[9,14,99],"is":[10,39,100],"presented.":[11],"The":[12],"proposed":[13,107],"guarantees":[15],"compliance":[16,87],"the":[18,34,37,65,67,106],"operated":[19,74],"manipulator":[20,38,68],"strictly":[21],"within":[22],"preselected":[23],"spatial":[24,60],"limits.":[25],"Specifically,":[26],"by":[27],"introducing":[28],"nonlinear":[30],"stiffness":[31,78,97],"term":[32],"into":[33],"control":[35],"design,":[36],"prevented":[40],"from":[41,64],"colliding":[42],"with":[43,94],"an":[44],"explicitly":[45],"defined":[46],"hard":[47],"boundary,":[48],"like":[49],"human":[51],"being":[52],"or":[53],"fragile":[55],"object.":[56],"When":[57],"operating":[58],"in":[59,83],"regions":[61,85],"sufficiently":[62],"away":[63],"boundary":[66],"behaves":[69],"as":[70],"if":[71],"it":[72],"were":[73],"via":[75],"linear":[77,96],"controller,":[80],"thus":[81],"preserving":[82],"these":[84],"its":[86],"and":[88,104],"convergence":[89],"characteristics.":[90],"A":[91],"comparative":[92],"simulation":[93],"performed":[101],"to":[102],"verify":[103],"clarify":[105],"approach.":[108]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
