{"id":"https://openalex.org/W2886528906","doi":"https://doi.org/10.1109/iros.2018.8593718","title":"Passive Compliance Control of Aerial Manipulators","display_name":"Passive Compliance Control of Aerial Manipulators","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2886528906","doi":"https://doi.org/10.1109/iros.2018.8593718","mag":"2886528906"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593718","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593718","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101828960","display_name":"Min Jun Kim","orcid":"https://orcid.org/0000-0003-0605-4512"},"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":"Min Jun Kim","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071216935","display_name":"Ribin Balachandran","orcid":"https://orcid.org/0000-0002-7560-471X"},"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":"Ribin Balachandran","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013295793","display_name":"Marco De Stefano","orcid":"https://orcid.org/0000-0003-3777-9487"},"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":"Marco De Stefano","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108078580","display_name":"Konstantin Kondak","orcid":null},"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":"Konstantin Kondak","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","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), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101828960"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":1.8393,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.84129187,"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":"4177","last_page":"4184"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9933000206947327,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9868000149726868,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/passivity","display_name":"Passivity","score":0.9602389335632324},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7781985998153687},{"id":"https://openalex.org/keywords/fuselage","display_name":"Fuselage","score":0.7625772356987},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6192745566368103},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5459274053573608},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5215561389923096},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.508236825466156},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4760996103286743},{"id":"https://openalex.org/keywords/compliance","display_name":"Compliance (psychology)","score":0.43043234944343567},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4189673662185669},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4028366506099701},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11823871731758118},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09250107407569885},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08357682824134827}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.9602389335632324},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7781985998153687},{"id":"https://openalex.org/C113556839","wikidata":"https://www.wikidata.org/wiki/Q1110579","display_name":"Fuselage","level":2,"score":0.7625772356987},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6192745566368103},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5459274053573608},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5215561389923096},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.508236825466156},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4760996103286743},{"id":"https://openalex.org/C2781460075","wikidata":"https://www.wikidata.org/wiki/Q1399332","display_name":"Compliance (psychology)","level":2,"score":0.43043234944343567},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4189673662185669},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4028366506099701},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11823871731758118},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09250107407569885},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08357682824134827},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2018.8593718","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593718","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:124921","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593718>.","pdf_url":null,"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":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/15","score":0.6700000166893005,"display_name":"Life in Land"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1179834982","https://openalex.org/W1584143882","https://openalex.org/W1964573745","https://openalex.org/W2001273675","https://openalex.org/W2007554064","https://openalex.org/W2015367954","https://openalex.org/W2019896740","https://openalex.org/W2037011962","https://openalex.org/W2078580336","https://openalex.org/W2092615847","https://openalex.org/W2099914424","https://openalex.org/W2110985829","https://openalex.org/W2121385616","https://openalex.org/W2137239910","https://openalex.org/W2153631465","https://openalex.org/W2518043645","https://openalex.org/W2559417537","https://openalex.org/W2560781825","https://openalex.org/W2564046594","https://openalex.org/W2593091274","https://openalex.org/W2738596250","https://openalex.org/W2790708554","https://openalex.org/W2791569555","https://openalex.org/W2890712395","https://openalex.org/W2902353813","https://openalex.org/W3146047311","https://openalex.org/W4251255891","https://openalex.org/W6655188812","https://openalex.org/W6754627095"],"related_works":["https://openalex.org/W2007592383","https://openalex.org/W3010403524","https://openalex.org/W2148035453","https://openalex.org/W1973235329","https://openalex.org/W2139553966","https://openalex.org/W2731156300","https://openalex.org/W2109513135","https://openalex.org/W2541053406","https://openalex.org/W4320802500","https://openalex.org/W3110280435"],"abstract_inverted_index":{"This":[0],"paper":[1,45],"presents":[2],"a":[3,52],"passive":[4],"compliance":[5],"control":[6],"for":[7],"aerial":[8,28],"manipulators":[9],"to":[10,37],"achieve":[11],"stable":[12],"environmental":[13],"interactions.":[14],"The":[15,40],"main":[16],"challenge":[17],"is":[18,63],"the":[19,27,35,49,74],"absence":[20],"of":[21,26,48,55,60],"actuation":[22],"along":[23],"body-planar":[24],"directions":[25],"vehicle":[29,61],"which":[30],"might":[31],"be":[32],"required":[33],"during":[34],"interaction":[36],"preserve":[38],"passivity.":[39],"controller":[41],"proposed":[42,75],"in":[43],"this":[44],"guarantees":[46],"passivity":[47,69],"manipulator":[50],"through":[51],"proper":[53],"choice":[54],"end-effector":[56],"coordinates,":[57],"and":[58],"that":[59],"fuselage":[62],"guaranteed":[64],"by":[65],"exploiting":[66],"time":[67],"domain":[68],"technique.":[70],"Simulation":[71],"studies":[72],"validate":[73],"approach.":[76]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
