{"id":"https://openalex.org/W3133097374","doi":"https://doi.org/10.1109/iros45743.2020.9340717","title":"Robust Force Tracking Impedance Control of an Ultrasonic Motor-actuated End-effector in a Soft Environment","display_name":"Robust Force Tracking Impedance Control of an Ultrasonic Motor-actuated End-effector in a Soft Environment","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3133097374","doi":"https://doi.org/10.1109/iros45743.2020.9340717","mag":"3133097374"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340717","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340717","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5080546069","display_name":"Wenyu Liang","orcid":"https://orcid.org/0000-0003-0278-2723"},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Wenyu Liang","raw_affiliation_strings":["Institute for Infocomm Research (I2R),Agency for Science, Technology and Research (A*STAR),Singapore,138632"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Infocomm Research (I2R),Agency for Science, Technology and Research (A*STAR),Singapore,138632","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060727044","display_name":"Zhao Feng","orcid":"https://orcid.org/0000-0001-7213-9413"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhao Feng","raw_affiliation_strings":["National University of Singapore (NUS),Department of Electrical and Computer Engineering,Singapore,117576"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore (NUS),Department of Electrical and Computer Engineering,Singapore,117576","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017822851","display_name":"Yan Wu","orcid":"https://orcid.org/0000-0002-4644-0664"},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yan Wu","raw_affiliation_strings":["Institute for Infocomm Research (I2R),Agency for Science, Technology and Research (A*STAR),Singapore,138632"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Infocomm Research (I2R),Agency for Science, Technology and Research (A*STAR),Singapore,138632","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044956642","display_name":"Junli Gao","orcid":"https://orcid.org/0000-0002-0327-3616"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junli Gao","raw_affiliation_strings":["Guangdong University of Technology,School of Automation,Guangzhou,China,510006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong University of Technology,School of Automation,Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041199618","display_name":"Qinyuan Ren","orcid":"https://orcid.org/0000-0001-9487-2675"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinyuan Ren","raw_affiliation_strings":["Zhejiang University,College of Control Science and Engineering,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Control Science and Engineering,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026685411","display_name":"Tong Heng Lee","orcid":"https://orcid.org/0000-0002-2785-516X"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Tong Heng Lee","raw_affiliation_strings":["National University of Singapore (NUS),Department of Electrical and Computer Engineering,Singapore,117576"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore (NUS),Department of Electrical and Computer Engineering,Singapore,117576","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7716","last_page":"7722"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9968000054359436,"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/impedance-control","display_name":"Impedance control","score":0.7793169021606445},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6947172284126282},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.6745520830154419},{"id":"https://openalex.org/keywords/ultrasonic-motor","display_name":"Ultrasonic motor","score":0.6490557193756104},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6298853158950806},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5569352507591248},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5042551755905151},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5037528872489929},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.48806536197662354},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4529432952404022},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.45101669430732727},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4249754250049591},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.41909876465797424},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3557432293891907},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2272113561630249},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2207162082195282},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.20565617084503174},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.2023647129535675},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18910804390907288},{"id":"https://openalex.org/keywords/piezoelectricity","display_name":"Piezoelectricity","score":0.10001865029335022},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09274378418922424}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.7793169021606445},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6947172284126282},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.6745520830154419},{"id":"https://openalex.org/C138794181","wikidata":"https://www.wikidata.org/wiki/Q10541502","display_name":"Ultrasonic motor","level":3,"score":0.6490557193756104},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6298853158950806},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5569352507591248},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5042551755905151},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5037528872489929},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.48806536197662354},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4529432952404022},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.45101669430732727},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4249754250049591},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.41909876465797424},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3557432293891907},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2272113561630249},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2207162082195282},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.20565617084503174},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.2023647129535675},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18910804390907288},{"id":"https://openalex.org/C100082104","wikidata":"https://www.wikidata.org/wiki/Q183759","display_name":"Piezoelectricity","level":2,"score":0.10001865029335022},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09274378418922424},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9340717","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340717","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1967377907","https://openalex.org/W1968182683","https://openalex.org/W1973852338","https://openalex.org/W1975656780","https://openalex.org/W1995771212","https://openalex.org/W1998248628","https://openalex.org/W2055893114","https://openalex.org/W2080381296","https://openalex.org/W2091418584","https://openalex.org/W2106021820","https://openalex.org/W2120356183","https://openalex.org/W2125141152","https://openalex.org/W2145408377","https://openalex.org/W2322241201","https://openalex.org/W2399731623","https://openalex.org/W2503113795","https://openalex.org/W2511957348","https://openalex.org/W2789837488","https://openalex.org/W2790777513","https://openalex.org/W2793362685","https://openalex.org/W2793379827","https://openalex.org/W2901926501","https://openalex.org/W2913141000","https://openalex.org/W2913379437","https://openalex.org/W2921880780","https://openalex.org/W2929984944","https://openalex.org/W2941214179","https://openalex.org/W2950069298","https://openalex.org/W2978706708","https://openalex.org/W3010696419","https://openalex.org/W3017127311","https://openalex.org/W6649465191","https://openalex.org/W6758509046"],"related_works":["https://openalex.org/W2052320863","https://openalex.org/W2786196354","https://openalex.org/W3191493856","https://openalex.org/W4399374581","https://openalex.org/W2071387541","https://openalex.org/W2059740384","https://openalex.org/W1983135609","https://openalex.org/W2789837488","https://openalex.org/W2570672926","https://openalex.org/W1984186897"],"abstract_inverted_index":{"Robotic":[0],"systems":[1],"are":[2],"increasingly":[3],"required":[4],"not":[5],"only":[6],"to":[7,11,17,37,68],"generate":[8],"precise":[9],"motions":[10],"complete":[12],"their":[13],"tasks":[14],"but":[15],"also":[16],"handle":[18],"the":[19,22,33,38,45,83,87,101,106,112],"interactions":[20],"with":[21,93,100],"environment":[23,95],"or":[24],"human.":[25],"Significantly,":[26],"soft":[27,46,79,94],"interaction":[28],"brings":[29],"great":[30],"challenges":[31],"on":[32],"force":[34,70,108],"control":[35,54,65,114],"due":[36],"nonlinear,":[39],"viscoelastic":[40],"and":[41,60,98],"inhomogeneous":[42],"properties":[43],"of":[44,86,111],"environment.":[47,80],"In":[48,81],"this":[49],"paper,":[50],"a":[51,78],"robust":[52],"impedance":[53,89],"scheme":[55,115],"utilizing":[56],"integral":[57,61],"backstepping":[58],"technology":[59],"terminal":[62],"sliding":[63],"mode":[64],"is":[66,96,116],"proposed":[67,113],"achieve":[69],"tracking":[71,109],"for":[72],"an":[73],"ultrasonic":[74],"motor-actuated":[75],"end-effector":[76],"in":[77,91],"particular,":[82],"steady-state":[84],"performance":[85,110],"target":[88],"while":[90],"contact":[92],"derived":[97],"analyzed":[99],"nonlinear":[102],"Hunt-Crossley":[103],"model.":[104],"Finally,":[105],"dynamic":[107],"verified":[117],"via":[118],"several":[119],"experiments.":[120]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}