{"id":"https://openalex.org/W2771868961","doi":"https://doi.org/10.1109/iros.2017.8206353","title":"Robust constraint-based robot control for bimanual cap rotation","display_name":"Robust constraint-based robot control for bimanual cap rotation","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2771868961","doi":"https://doi.org/10.1109/iros.2017.8206353","mag":"2771868961"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206353","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206353","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5017839261","display_name":"Matteo Parigi Polverini","orcid":"https://orcid.org/0000-0002-4740-7006"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Matteo Parigi Polverini","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050366331","display_name":"Andrea Maria Zanchettin","orcid":"https://orcid.org/0000-0002-1866-7482"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Maria Zanchettin","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044773223","display_name":"Francesco Incocciati","orcid":null},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Incocciati","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065821384","display_name":"Paolo Rocco","orcid":"https://orcid.org/0000-0001-6716-434X"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Rocco","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5017839261"],"corresponding_institution_ids":["https://openalex.org/I93860229"],"apc_list":null,"apc_paid":null,"fwci":0.4023,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.64796649,"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":"4785","last_page":"4790"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9980000257492065,"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/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/robot","display_name":"Robot","score":0.7083842158317566},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6712831258773804},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5874564051628113},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5698388814926147},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.5338433980941772},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5333734750747681},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5119413137435913},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4950932562351227},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.48484599590301514},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4618512690067291},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.45648854970932007},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.42987364530563354},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.419864684343338},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3524782061576843},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31450581550598145},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29673802852630615},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.2602144479751587},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24484339356422424},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19109123945236206},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.06727135181427002}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7083842158317566},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6712831258773804},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5874564051628113},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5698388814926147},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.5338433980941772},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5333734750747681},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5119413137435913},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4950932562351227},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.48484599590301514},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4618512690067291},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.45648854970932007},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.42987364530563354},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.419864684343338},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3524782061576843},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31450581550598145},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29673802852630615},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2602144479751587},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24484339356422424},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19109123945236206},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.06727135181427002},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2017.8206353","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206353","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1062442","is_oa":false,"landing_page_url":"http://hdl.handle.net/11311/1062442","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1551568581","https://openalex.org/W1559749952","https://openalex.org/W2019606703","https://openalex.org/W2047339567","https://openalex.org/W2050821827","https://openalex.org/W2062411213","https://openalex.org/W2088735820","https://openalex.org/W2097287749","https://openalex.org/W2098564375","https://openalex.org/W2131292439","https://openalex.org/W2149085596","https://openalex.org/W2153577013","https://openalex.org/W2169360335","https://openalex.org/W2225813005","https://openalex.org/W2332017132","https://openalex.org/W2414912589","https://openalex.org/W2539667151","https://openalex.org/W2560665049","https://openalex.org/W2561284084","https://openalex.org/W2569229828","https://openalex.org/W4206820429"],"related_works":["https://openalex.org/W2160983430","https://openalex.org/W4388893656","https://openalex.org/W2749023251","https://openalex.org/W2794101066","https://openalex.org/W4296340444","https://openalex.org/W1505290414","https://openalex.org/W2108575589","https://openalex.org/W2605331264","https://openalex.org/W2715426920","https://openalex.org/W3096187747"],"abstract_inverted_index":{"In":[0],"this":[1],"work":[2],"a":[3,13,18,28,73,78],"constraint-based":[4],"control":[5],"approach":[6,71],"is":[7],"proposed":[8,70],"in":[9,48,72],"order":[10],"to":[11,50,67],"perform":[12],"cap":[14,74],"rotation":[15],"task":[16],"with":[17],"dual-arm":[19,64],"robot.":[20],"The":[21],"method":[22],"relies":[23],"on":[24,34,61],"the":[25,32,35,40,69,83],"introduction":[26],"of":[27,82],"robust":[29],"specification":[30],"for":[31,43],"constraint":[33],"interaction":[36,84],"force":[37,51],"arising":[38],"during":[39],"task,":[41,76],"accounting":[42],"robot-environment":[44],"contact":[45],"model":[46],"uncertainties,":[47],"addition":[49],"measurement":[52],"noise":[53],"and":[54],"surface":[55],"uncertainties.":[56],"Experiments":[57],"have":[58],"been":[59],"performed":[60],"an":[62],"ABB":[63],"prototype":[65],"robot":[66],"validate":[68],"assembly":[75],"employing":[77],"model-based":[79],"sensorless":[80],"observer":[81],"forces.":[85]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2017-12-22T00:00:00"}