{"id":"https://openalex.org/W3132489274","doi":"https://doi.org/10.1109/iros45743.2020.9340785","title":"Contact Force Estimation and Regulation of a Position-controlled Floating Base System without Joint Torque Information","display_name":"Contact Force Estimation and Regulation of a Position-controlled Floating Base System without Joint Torque Information","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3132489274","doi":"https://doi.org/10.1109/iros45743.2020.9340785","mag":"3132489274"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340785","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340785","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/A5070648653","display_name":"Guoteng Zhang","orcid":"https://orcid.org/0000-0001-7705-2819"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoteng Zhang","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100778162","display_name":"Shugen Ma","orcid":"https://orcid.org/0000-0003-1155-8969"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shugen Ma","raw_affiliation_strings":["Ritsumeikan University, Shiga, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100724411","display_name":"Yibin Li","orcid":"https://orcid.org/0000-0002-5906-5074"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yibin Li","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"37","issue":null,"first_page":"3967","last_page":"3974"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9925000071525574,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9925000071525574,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11870","display_name":"Structural Analysis and Optimization","score":0.9883000254631042,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9843000173568726,"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":0.7784532904624939},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7655735015869141},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.7109470367431641},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.7088465690612793},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.7053949236869812},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6407644748687744},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.5863893628120422},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.4675986170768738},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43366944789886475},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4094742238521576},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3892492651939392},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2417496144771576},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18371859192848206},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.16425460577011108},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15748360753059387},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.11272174119949341},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09038379788398743},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08852672576904297},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.08764073252677917}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7784532904624939},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7655735015869141},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.7109470367431641},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.7088465690612793},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.7053949236869812},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6407644748687744},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.5863893628120422},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.4675986170768738},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43366944789886475},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4094742238521576},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3892492651939392},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2417496144771576},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18371859192848206},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16425460577011108},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15748360753059387},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.11272174119949341},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09038379788398743},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08852672576904297},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.08764073252677917},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"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/iros45743.2020.9340785","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340785","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1981225035","https://openalex.org/W1994298651","https://openalex.org/W2006010000","https://openalex.org/W2024896907","https://openalex.org/W2036264009","https://openalex.org/W2038583104","https://openalex.org/W2102602081","https://openalex.org/W2111253117","https://openalex.org/W2111904757","https://openalex.org/W2116528556","https://openalex.org/W2119088038","https://openalex.org/W2121316434","https://openalex.org/W2131245153","https://openalex.org/W2138671676","https://openalex.org/W2140403608","https://openalex.org/W2141042553","https://openalex.org/W2149458524","https://openalex.org/W2150317946","https://openalex.org/W2159220301","https://openalex.org/W2182349353","https://openalex.org/W2203022174","https://openalex.org/W2203260532","https://openalex.org/W2215881691","https://openalex.org/W2223055204","https://openalex.org/W2296360731","https://openalex.org/W2415959992","https://openalex.org/W2549216668","https://openalex.org/W2577008596","https://openalex.org/W2608049184","https://openalex.org/W2726943348","https://openalex.org/W2772638041","https://openalex.org/W2889693550","https://openalex.org/W2909553221","https://openalex.org/W2964162042","https://openalex.org/W2968213087","https://openalex.org/W4241459016","https://openalex.org/W4250058668","https://openalex.org/W4251861244"],"related_works":["https://openalex.org/W2112389631","https://openalex.org/W2161681971","https://openalex.org/W2172182590","https://openalex.org/W2157702526","https://openalex.org/W2103107162","https://openalex.org/W2197323063","https://openalex.org/W2142476074","https://openalex.org/W2221071558","https://openalex.org/W2104832047","https://openalex.org/W2885663867"],"abstract_inverted_index":{"A":[0],"floating":[1,27],"base":[2,28],"system":[3,29,42],"is":[4,12,43,56,69,87],"inevitably":[5],"to":[6,58,71,76],"contact":[7,18,49,61,74],"the":[8,17,35,41,48,52,60,73,78,82],"environment":[9],"while":[10],"it":[11],"moving.":[13],"This":[14],"paper":[15],"explores":[16],"force":[19],"estimation":[20],"and":[21,45],"regulation":[22],"algorithm":[23,86],"for":[24],"a":[25,65,90],"position-controlled":[26],"without":[30],"joint":[31,36],"torque":[32],"information.":[33],"First,":[34],"space":[37],"dynamic":[38],"model":[39],"of":[40,84],"presented":[44],"transformed":[46],"into":[47],"space.":[50],"Then,":[51],"inverse":[53],"dynamics":[54],"method":[55],"employed":[57],"estimate":[59],"forces.":[62],"After":[63],"that,":[64],"proportional-integral":[66],"(PI)":[67],"regulator":[68],"designed":[70],"drive":[72],"forces":[75],"track":[77],"desired":[79],"values.":[80],"Finally,":[81],"feasibility":[83],"this":[85],"demonstrated":[88],"on":[89],"simulated":[91],"bipedal":[92],"platform.":[93]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
