{"id":"https://openalex.org/W2909455565","doi":"https://doi.org/10.1109/iros.2018.8593415","title":"Elastic Structure Preserving Impedance (ES\u03c0)Control for Compliantly Actuated Robots","display_name":"Elastic Structure Preserving Impedance (ES\u03c0)Control for Compliantly Actuated Robots","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2909455565","doi":"https://doi.org/10.1109/iros.2018.8593415","mag":"2909455565"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593415","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593415","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://elib.dlr.de/143190/1/2018_IROS.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014098286","display_name":"Manuel Keppler","orcid":"https://orcid.org/0000-0002-1532-963X"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Manuel Keppler","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086621714","display_name":"Dominic Lakatos","orcid":"https://orcid.org/0000-0002-1841-9972"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dominic Lakatos","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048539897","display_name":"Christian Ott","orcid":"https://orcid.org/0000-0003-0987-7493"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Ott","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080814983","display_name":"Alin Albu\u2010Sch\u00e4ffer","orcid":"https://orcid.org/0000-0001-5343-9074"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alin Albu-Schaffer","raw_affiliation_strings":["Department of Informatics, TChair of Sensor Based Robots and Intelligent Assistance Systems, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, TChair of Sensor Based Robots and Intelligent Assistance Systems, Garching, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5014098286"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":1.1036,"has_fulltext":true,"cited_by_count":16,"citation_normalized_percentile":{"value":0.79941163,"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":"5861","last_page":"5868"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.998199999332428,"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":0.998199999332428,"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":0.9976000189781189,"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":0.9955000281333923,"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":0.7905867099761963},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.6181906461715698},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6081789135932922},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.545960009098053},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5422045588493347},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5395172834396362},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5266551971435547},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5153421759605408},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5122489333152771},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.4751831591129303},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4140760600566864},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3227185606956482},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24714910984039307},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20789030194282532},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18154588341712952},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.17498433589935303},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1041683554649353},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.10377362370491028}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7905867099761963},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.6181906461715698},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6081789135932922},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.545960009098053},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5422045588493347},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5395172834396362},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5266551971435547},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5153421759605408},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5122489333152771},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.4751831591129303},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4140760600566864},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3227185606956482},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24714910984039307},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20789030194282532},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18154588341712952},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.17498433589935303},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1041683554649353},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.10377362370491028},{"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2018.8593415","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593415","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:143190","is_oa":true,"landing_page_url":"https://doi.org/10.1109/IROS.2018.8593415>.","pdf_url":"https://elib.dlr.de/143190/1/2018_IROS.pdf","source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"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":"PeerReviewed"}],"best_oa_location":{"id":"pmh:oai:elib.dlr.de:143190","is_oa":true,"landing_page_url":"https://doi.org/10.1109/IROS.2018.8593415>.","pdf_url":"https://elib.dlr.de/143190/1/2018_IROS.pdf","source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"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":"PeerReviewed"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2909455565.pdf","grobid_xml":"https://content.openalex.org/works/W2909455565.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W157347308","https://openalex.org/W1487127700","https://openalex.org/W1503590361","https://openalex.org/W1535834614","https://openalex.org/W1967377907","https://openalex.org/W1986689506","https://openalex.org/W1995090200","https://openalex.org/W2068027769","https://openalex.org/W2070678224","https://openalex.org/W2104181254","https://openalex.org/W2105984753","https://openalex.org/W2111253117","https://openalex.org/W2112474089","https://openalex.org/W2113593135","https://openalex.org/W2123035336","https://openalex.org/W2149085596","https://openalex.org/W2150024155","https://openalex.org/W2155462480","https://openalex.org/W2171983089","https://openalex.org/W2418313965","https://openalex.org/W2569608781","https://openalex.org/W2793476814","https://openalex.org/W2902772446","https://openalex.org/W4235485079"],"related_works":["https://openalex.org/W2115030441","https://openalex.org/W4313447139","https://openalex.org/W3131110707","https://openalex.org/W2057538835","https://openalex.org/W2954323201","https://openalex.org/W2096137237","https://openalex.org/W1528778733","https://openalex.org/W260253386","https://openalex.org/W2127677850","https://openalex.org/W1967122795"],"abstract_inverted_index":{"We":[0,145],"present":[1],"a":[2,20,49,147],"new":[3,80],"approach":[4,134],"for":[5,136],"Cartesian":[6,124],"impedance":[7,125],"control":[8,44,126],"of":[9,70,94,140,155],"compliantly":[10],"actuated":[11],"robots":[12],"with":[13,108],"possibly":[14],"nonlinear":[15],"spring":[16,87],"characteristics.":[17],"It":[18],"reveals":[19],"remarkable":[21],"stiffness":[22,51],"and":[23,52,67,88,149,160],"damping":[24,53],"range":[25],"in":[26],"the":[27,35,37,56,60,71,85,104,116,141,153],"experimental":[28],"evaluation.":[29],"The":[30,64,130],"most":[31],"interesting":[32],"contribution,":[33],"is":[34,41,76,100,120],"way":[36],"desired":[38,50,86],"closed-loop":[39,143],"dynamics":[40],"designed.":[42],"Our":[43],"concept":[45],"allows":[46,135],"to":[47,102,110],"add":[48],"directly":[54],"on":[55,127,152],"end-effector,":[57],"while":[58],"leaving":[59],"system":[61,72],"structure":[62],"intact.":[63],"intrinsic":[65],"inertial":[66],"elastic":[68],"properties":[69],"are":[73],"preserved.":[74],"This":[75],"achieved":[77],"by":[78,92,122],"introducing":[79],"motor":[81,96],"coordinates":[82],"that":[83,119],"reflect":[84],"damper":[89],"terms.":[90],"Theoretically,":[91],"means":[93],"additional":[95],"inertia":[97],"shaping":[98],"it":[99],"possible":[101],"make":[103],"end-effector":[105],"interaction":[106,117],"behavior":[107,118],"respect":[109],"external":[111],"loads":[112],"approach,":[113],"arbitrarily":[114],"close,":[115],"achievable":[121],"classical":[123],"rigid":[128],"robots.":[129],"physically":[131,157],"motivated":[132,158],"design":[133],"an":[137],"intuitive":[138],"understanding":[139],"resulting":[142],"dynamics.":[144],"perform":[146],"passivity":[148],"stability":[150],"analysis":[151],"basis":[154],"al":[156],"storage":[159],"Lyapunov":[161],"function.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}