{"id":"https://openalex.org/W3003744633","doi":"https://doi.org/10.1109/iros40897.2019.8967808","title":"Hybrid Force/Motion Control and Implementation of an Aerial Manipulator towards Sustained Contact Operations","display_name":"Hybrid Force/Motion Control and Implementation of an Aerial Manipulator towards Sustained Contact Operations","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003744633","doi":"https://doi.org/10.1109/iros40897.2019.8967808","mag":"3003744633"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967808","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5015404475","display_name":"Xiangdong Meng","orcid":"https://orcid.org/0000-0002-3568-3986"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiangdong Meng","raw_affiliation_strings":["Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110016","Chinese Academy of Sciences, Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing"],"affiliations":[{"raw_affiliation_string":"Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110016","institution_ids":["https://openalex.org/I142078773"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100654736","display_name":"Yuqing He","orcid":"https://orcid.org/0000-0001-5067-1169"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuqing He","raw_affiliation_strings":["Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110016","Chinese Academy of Sciences, Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing"],"affiliations":[{"raw_affiliation_string":"Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110016","institution_ids":["https://openalex.org/I142078773"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100439073","display_name":"Jianda Han","orcid":"https://orcid.org/0000-0002-9664-4534"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianda Han","raw_affiliation_strings":["Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016","Chinese Academy of Sciences, Shenyang Institute of Automation"],"affiliations":[{"raw_affiliation_string":"Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016","institution_ids":["https://openalex.org/I142078773"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5015404475"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"],"apc_list":null,"apc_paid":null,"fwci":0.911,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.79814389,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3678","last_page":"3683"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","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/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7807668447494507},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6634860634803772},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6039623618125916},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5436846017837524},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.5310671329498291},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.49919605255126953},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4926019310951233},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.45804375410079956},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4460514187812805},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.44553637504577637},{"id":"https://openalex.org/keywords/contact-dynamics","display_name":"Contact dynamics","score":0.43424129486083984},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3786998391151428},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3684154748916626},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3578742742538452},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22159883379936218},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17154869437217712},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.1641283929347992},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15819087624549866},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1518058180809021},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.13401350378990173}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7807668447494507},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6634860634803772},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6039623618125916},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5436846017837524},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.5310671329498291},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.49919605255126953},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4926019310951233},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.45804375410079956},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4460514187812805},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.44553637504577637},{"id":"https://openalex.org/C2778931886","wikidata":"https://www.wikidata.org/wiki/Q5164827","display_name":"Contact dynamics","level":2,"score":0.43424129486083984},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3786998391151428},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3684154748916626},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3578742742538452},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22159883379936218},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17154869437217712},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.1641283929347992},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15819087624549866},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1518058180809021},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13401350378990173},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8967808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967808","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1256176189","https://openalex.org/W2050592409","https://openalex.org/W2056611627","https://openalex.org/W2060543224","https://openalex.org/W2119599739","https://openalex.org/W2219720796","https://openalex.org/W2771313070","https://openalex.org/W2792213791","https://openalex.org/W2810622842","https://openalex.org/W2889829150","https://openalex.org/W2891005336","https://openalex.org/W2891407278","https://openalex.org/W2909041166","https://openalex.org/W2909191761","https://openalex.org/W2910976650","https://openalex.org/W2963838995","https://openalex.org/W4230352707","https://openalex.org/W4254005064"],"related_works":["https://openalex.org/W2161681971","https://openalex.org/W2172182590","https://openalex.org/W2197323063","https://openalex.org/W2142476074","https://openalex.org/W2221071558","https://openalex.org/W2104832047","https://openalex.org/W2885663867","https://openalex.org/W2074309356","https://openalex.org/W2067373051","https://openalex.org/W2137135972"],"abstract_inverted_index":{"Contact-based":[0],"operation":[1],"in":[2,50,65,121],"moving":[3,104],"process":[4],"is":[5,48,84,99,151],"a":[6,43,92,122,133],"challenging":[7],"problem":[8],"for":[9],"aerial":[10,82,129],"manipulators.":[11],"It":[12],"requires":[13],"the":[14,76,79,103,106,118,126,148],"whole":[15],"system":[16,131],"to":[17,24,33,88,116],"maintain":[18],"steady":[19,119],"contact":[20,37,56,77,107],"with":[21,132],"external":[22],"environment,":[23],"track":[25],"some":[26,35],"predefined":[27],"trajectories":[28],"on":[29],"surfaces,":[30],"and":[31,59,71,111,138,153],"simultaneously":[32],"present":[34],"fixed":[36],"force.":[38],"Aiming":[39],"at":[40],"this":[41,51,54],"problem,":[42],"hybrid":[44],"force/motion":[45],"control":[46,58,61,75,102],"framework":[47,150],"proposed":[49,149],"paper.":[52],"In":[53,125],"framework,":[55],"force":[57],"position":[60,112],"are":[62,114],"performed":[63],"separately":[64],"two":[66],"orthogonal":[67],"subspaces:":[68],"constrained":[69],"space":[70],"free-flight":[72,123],"space.":[73],"To":[74,101],"force,":[78],"closed-loop":[80],"unmanned":[81],"vehicle":[83],"first":[85],"theoretically":[86],"shown":[87],"behave":[89],"dynamically":[90],"as":[91],"spring-mass-damper":[93],"system.":[94],"Further,":[95],"an":[96,128],"inverse-dynamics-based":[97],"controller":[98,113],"proposed.":[100],"along":[105],"surface,":[108],"trajectory":[109],"planning":[110],"combined":[115],"achieve":[117],"behavior":[120],"subspace.":[124],"end,":[127],"manipulator":[130],"roller-type":[134],"end-effector":[135],"was":[136,142],"designed,":[137],"practical":[139],"flight":[140],"experiments":[141],"performed.":[143],"The":[144],"results":[145],"indicate":[146],"that":[147],"effective":[152],"validity.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
