{"id":"https://openalex.org/W3003570405","doi":"https://doi.org/10.1109/iros40897.2019.8968217","title":"Relaxing the Conservatism of Passivity Condition for Impedance Controlled Series Elastic Actuators","display_name":"Relaxing the Conservatism of Passivity Condition for Impedance Controlled Series Elastic Actuators","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003570405","doi":"https://doi.org/10.1109/iros40897.2019.8968217","mag":"3003570405"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968217","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968217","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":"conference-paper","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/A5101907558","display_name":"Hyunwook Lee","orcid":"https://orcid.org/0000-0001-9991-0984"},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyunwook Lee","raw_affiliation_strings":["DGIST,Department of Robotics Engineering,Daegu,Korea","Department of Robotics Engineering, DGIST, Daegu, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DGIST,Department of Robotics Engineering,Daegu,Korea","institution_ids":["https://openalex.org/I193352282"]},{"raw_affiliation_string":"Department of Robotics Engineering, DGIST, Daegu, Korea","institution_ids":["https://openalex.org/I193352282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017250304","display_name":"Jinoh Lee","orcid":"https://orcid.org/0000-0002-4901-7095"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Jinoh Lee","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Department of Advanced Robotics,Genova,Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Department of Advanced Robotics,Genova,Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019438521","display_name":"Jee-Hwan Ryu","orcid":"https://orcid.org/0000-0002-6497-7115"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jee-Hwan Ryu","raw_affiliation_strings":["KAIST,Department of Civil and Environmental Engineering,Daejeon,Korea","Department of Civil and Environmental Engineering, KAIST, Daejeon, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KAIST,Department of Civil and Environmental Engineering,Daejeon,Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Department of Civil and Environmental Engineering, KAIST, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007243736","display_name":"Sehoon Oh","orcid":"https://orcid.org/0000-0003-0838-163X"},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sehoon Oh","raw_affiliation_strings":["DGIST,Department of Robotics Engineering,Daegu,Korea","Department of Robotics Engineering, DGIST, Daegu, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DGIST,Department of Robotics Engineering,Daegu,Korea","institution_ids":["https://openalex.org/I193352282"]},{"raw_affiliation_string":"Department of Robotics Engineering, DGIST, Daegu, Korea","institution_ids":["https://openalex.org/I193352282"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7610","last_page":"7615"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9896000027656555,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9896000027656555,"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":0.9851999878883362,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9661999940872192,"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/passivity","display_name":"Passivity","score":0.9252497553825378},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7654680609703064},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6558581590652466},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6486899852752686},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5524013042449951},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.45301324129104614},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4090458154678345},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31133317947387695},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.23934432864189148},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18188253045082092},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14875274896621704}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.9252497553825378},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7654680609703064},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6558581590652466},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6486899852752686},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5524013042449951},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.45301324129104614},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4090458154678345},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31133317947387695},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.23934432864189148},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18188253045082092},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14875274896621704},{"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/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968217","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968217","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":[{"id":"https://metadata.un.org/sdg/14","score":0.8500000238418579,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1535570778","https://openalex.org/W1974357213","https://openalex.org/W2003176730","https://openalex.org/W2033433965","https://openalex.org/W2096826446","https://openalex.org/W2097446805","https://openalex.org/W2102159351","https://openalex.org/W2111253117","https://openalex.org/W2111898076","https://openalex.org/W2116767351","https://openalex.org/W2125137771","https://openalex.org/W2136715573","https://openalex.org/W2142529534","https://openalex.org/W2150024155","https://openalex.org/W2153631465","https://openalex.org/W2161100229","https://openalex.org/W2212383095","https://openalex.org/W2523980053","https://openalex.org/W2749111945","https://openalex.org/W2749462363","https://openalex.org/W2750711367","https://openalex.org/W2940528830","https://openalex.org/W6903613113"],"related_works":["https://openalex.org/W4233304828","https://openalex.org/W4239268637","https://openalex.org/W2952841825","https://openalex.org/W1977819874","https://openalex.org/W2051296765","https://openalex.org/W2960878236","https://openalex.org/W153449849","https://openalex.org/W2473698078","https://openalex.org/W2085176909","https://openalex.org/W2792365087"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,57,190],"practical":[4],"and":[5,20,79,101,172,187],"less":[6,163],"conservative":[7,99,164],"passivity":[8,96,115,140,155,191],"analysis":[9,97,141,156,181],"for":[10,133,194],"series":[11],"elastic":[12],"actuators":[13],"(SEAs)":[14],"by":[15,26,142,169,184],"introducing":[16],"load":[17,48,127,145,151],"port":[18],"definition":[19],"shows":[21],"that":[22,175],"the":[23,27,37,44,47,77,80,83,86,94,104,110,113,121,134,139,150,154,162,173,177],"achievable":[24,167],"stiffness":[25,39,168],"impedance":[28,66,170],"control":[29,67,88,171],"of":[30,40,46,85,91,112,124,136,138,149,166],"SEA":[31,41,51,87,125,200],"can":[32,52],"be":[33],"set":[34],"higher":[35],"than":[36],"inherent":[38],"depending":[42],"on":[43,197],"condition":[45],"dynamics.":[49,146],"Since":[50],"inherently":[53],"measure":[54],"or":[55],"estimate":[56],"transmitted":[58],"force":[59],"thanks":[60],"to":[61,71,159,189],"its":[62],"embedded":[63],"spring":[64],"element,":[65],"is":[68,90,182],"often":[69],"exploited":[70],"render":[72],"compliant":[73],"behaviors":[74],"related":[75],"between":[76],"motion":[78],"force.":[81],"Although":[82],"stability":[84],"system":[89],"great":[92],"importance,":[93],"conventional":[95,114],"gives":[98],"criteria,":[100],"indeed":[102],"limits":[103],"actual":[105,199],"actuator":[106],"performance.":[107],"To":[108],"tackle":[109],"conservatism":[111],"in":[116],"SEAs,":[117],"we":[118],"first":[119],"explore":[120],"dynamic":[122],"characteristics":[123],"including":[126],"dynamics,":[128],"which":[129],"has":[130],"been":[131],"ignored":[132],"sake":[135],"simplicity":[137],"excluding":[143],"uncertain":[144],"The":[147,179],"inclusion":[148],"dynamics":[152],"into":[153],"allows":[157],"us":[158],"properly":[160],"derive":[161],"limit":[165],"factors":[174],"determine":[176],"limit.":[178],"proposed":[180],"verified":[183],"numerical":[185],"simulations":[186],"applied":[188],"observer":[192],"design":[193],"experimental":[195],"validation":[196],"an":[198],"setup.":[201]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}