{"id":"https://openalex.org/W4200560062","doi":"https://doi.org/10.1109/iros51168.2021.9636472","title":"Impedance Control for a Flexible Robot Enhanced with Energy Tanks in the port-Hamiltonian Framework","display_name":"Impedance Control for a Flexible Robot Enhanced with Energy Tanks in the port-Hamiltonian Framework","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200560062","doi":"https://doi.org/10.1109/iros51168.2021.9636472"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636472","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636472","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5051529604","display_name":"Mart\u00edn Mujica","orcid":"https://orcid.org/0000-0003-4499-4660"},"institutions":[{"id":"https://openalex.org/I205747304","display_name":"Institut National Polytechnique de Toulouse","ror":"https://ror.org/033p9g875","country_code":"FR","type":"education","lineage":["https://openalex.org/I205747304","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I4210130517","display_name":"Laboratoire G\u00e9nie de Production","ror":"https://ror.org/039aqbp11","country_code":"FR","type":"facility","lineage":["https://openalex.org/I119865316","https://openalex.org/I4210130517","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Martin Mujica","raw_affiliation_strings":["LGP-ENIT, University of Toulouse, Tarbes, France"],"affiliations":[{"raw_affiliation_string":"LGP-ENIT, University of Toulouse, Tarbes, France","institution_ids":["https://openalex.org/I4210130517","https://openalex.org/I205747304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066662318","display_name":"Alejandro Donaire","orcid":"https://orcid.org/0000-0002-9616-5883"},"institutions":[{"id":"https://openalex.org/I78757542","display_name":"University of Newcastle Australia","ror":"https://ror.org/00eae9z71","country_code":"AU","type":"education","lineage":["https://openalex.org/I78757542"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Alejandro Donaire","raw_affiliation_strings":["University of Newcastle, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"University of Newcastle, NSW, Australia","institution_ids":["https://openalex.org/I78757542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043592714","display_name":"Mourad Benoussaad","orcid":"https://orcid.org/0000-0003-1145-7797"},"institutions":[{"id":"https://openalex.org/I205747304","display_name":"Institut National Polytechnique de Toulouse","ror":"https://ror.org/033p9g875","country_code":"FR","type":"education","lineage":["https://openalex.org/I205747304","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I4210130517","display_name":"Laboratoire G\u00e9nie de Production","ror":"https://ror.org/039aqbp11","country_code":"FR","type":"facility","lineage":["https://openalex.org/I119865316","https://openalex.org/I4210130517","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Mourad Benoussaad","raw_affiliation_strings":["LGP-ENIT, University of Toulouse, Tarbes, France"],"affiliations":[{"raw_affiliation_string":"LGP-ENIT, University of Toulouse, Tarbes, France","institution_ids":["https://openalex.org/I4210130517","https://openalex.org/I205747304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113531617","display_name":"Jean-Yves Fourquet","orcid":null},"institutions":[{"id":"https://openalex.org/I205747304","display_name":"Institut National Polytechnique de Toulouse","ror":"https://ror.org/033p9g875","country_code":"FR","type":"education","lineage":["https://openalex.org/I205747304","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I4210130517","display_name":"Laboratoire G\u00e9nie de Production","ror":"https://ror.org/039aqbp11","country_code":"FR","type":"facility","lineage":["https://openalex.org/I119865316","https://openalex.org/I4210130517","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jean-Yves Fourquet","raw_affiliation_strings":["LGP-ENIT, University of Toulouse, Tarbes, France"],"affiliations":[{"raw_affiliation_string":"LGP-ENIT, University of Toulouse, Tarbes, France","institution_ids":["https://openalex.org/I4210130517","https://openalex.org/I205747304"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5051529604"],"corresponding_institution_ids":["https://openalex.org/I205747304","https://openalex.org/I4210130517"],"apc_list":null,"apc_paid":null,"fwci":0.4363,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.49145697,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"9283","last_page":"9289"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9997000098228455,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9496999979019165,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9442999958992004,"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":0.8691308498382568},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6527338027954102},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6286376118659973},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.6151736378669739},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5851866006851196},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5474832057952881},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.48233363032341003},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4780162572860718},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.4608326554298401},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4479333162307739},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4382782280445099},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43721094727516174},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4037151634693146},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23058491945266724},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1788918673992157},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10172277688980103}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.8691308498382568},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6527338027954102},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6286376118659973},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6151736378669739},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5851866006851196},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5474832057952881},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.48233363032341003},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4780162572860718},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.4608326554298401},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4479333162307739},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4382782280445099},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43721094727516174},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4037151634693146},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23058491945266724},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1788918673992157},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10172277688980103},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636472","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636472","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.8999999761581421,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1498686692","https://openalex.org/W1541925238","https://openalex.org/W1548528537","https://openalex.org/W1967377907","https://openalex.org/W1995090200","https://openalex.org/W2005872133","https://openalex.org/W2057538835","https://openalex.org/W2066202893","https://openalex.org/W2096876511","https://openalex.org/W2104181254","https://openalex.org/W2112474089","https://openalex.org/W2113265921","https://openalex.org/W2125968092","https://openalex.org/W2142380406","https://openalex.org/W2150024155","https://openalex.org/W2296039882","https://openalex.org/W2503967141","https://openalex.org/W2565478864","https://openalex.org/W2939037429","https://openalex.org/W3026765122","https://openalex.org/W3099763198","https://openalex.org/W3113128756","https://openalex.org/W4214690803","https://openalex.org/W4287633590","https://openalex.org/W6632487612","https://openalex.org/W6784269403"],"related_works":["https://openalex.org/W3131110707","https://openalex.org/W2391000165","https://openalex.org/W2801692647","https://openalex.org/W3212673989","https://openalex.org/W2716370379","https://openalex.org/W2078580336","https://openalex.org/W2954323201","https://openalex.org/W2583465206","https://openalex.org/W2001273675","https://openalex.org/W2127677850"],"abstract_inverted_index":{"In":[0,50,111],"modern":[1],"robotics,":[2],"the":[3,30,38,47,71,76,79,83,86,88,105,108,119,124,133,142,150,161],"manipulators":[4],"are":[5,32],"no":[6],"longer":[7],"isolated":[8],"under":[9],"fully":[10],"controlled":[11],"conditions":[12],"but":[13,103],"rather":[14],"conceived":[15],"to":[16,122],"work":[17],"in":[18,46,146],"unconstrained":[19],"environments.":[20],"Under":[21],"these":[22],"operations,":[23,102],"compliant":[24],"control":[25,48,61,90,135,162],"and":[26,36,81,172],"passivity":[27,106],"properties":[28],"of":[29,33,58,78,85,107,126,132,141,160],"robot":[31,65],"great":[34],"importance,":[35],"thus":[37],"system\u2019s":[39],"energy":[40,95],"function":[41],"plays":[42],"a":[43,55,63,113,157],"crucial":[44],"role":[45],"design.":[49],"this":[51],"work,":[52],"we":[53],"propose":[54],"new":[56],"design":[57],"cartesian":[59],"impedance":[60],"for":[62,99,164],"flexible":[64],"whose":[66],"dynamics":[67],"is":[68,92,116,137],"represented":[69],"within":[70],"port-Hamiltonian":[72,120],"framework.":[73],"To":[74],"improve":[75],"performance":[77,131,159],"system":[80,91,136,163],"maximize":[82],"capabilities":[84],"robot,":[87],"robotic":[89,128],"enhanced":[93],"with":[94,149],"tanks":[96],"that":[97],"allow":[98],"temporarily":[100],"non-passive":[101],"ensure":[104],"extended":[109],"system.":[110],"addition,":[112],"secondary":[114],"controller":[115],"designed":[117],"using":[118],"approach":[121],"cover":[123],"case":[125],"redundant":[127],"manipulators.":[129],"The":[130,154],"full":[134],"tested":[138],"via":[139],"simulations":[140],"Kuka":[143],"iiwa":[144],"manipulator":[145],"closed":[147],"loop":[148],"proposed":[151],"passivity-based":[152],"controller.":[153],"results":[155],"show":[156],"satisfactory":[158],"set-point":[165],"regulation,":[166],"external":[167],"forces,":[168],"time-varying":[169],"reference":[170],"trajectories,":[171],"parametric":[173],"uncertainty.":[174]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}