{"id":"https://openalex.org/W2114584581","doi":"https://doi.org/10.1109/isic.2002.1157833","title":"Neural network based adaptive impedance control of constrained robots","display_name":"Neural network based adaptive impedance control of constrained robots","publication_year":2003,"publication_date":"2003-06-26","ids":{"openalex":"https://openalex.org/W2114584581","doi":"https://doi.org/10.1109/isic.2002.1157833","mag":"2114584581"},"language":"en","primary_location":{"id":"doi:10.1109/isic.2002.1157833","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isic.2002.1157833","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the IEEE Internatinal Symposium on Intelligent Control","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/A5025797226","display_name":"Loulin Huang","orcid":"https://orcid.org/0000-0002-4032-6238"},"institutions":[{"id":"https://openalex.org/I202502355","display_name":"Singapore Polytechnic","ror":"https://ror.org/05pxcn248","country_code":"SG","type":"education","lineage":["https://openalex.org/I202502355"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"L. Huang","raw_affiliation_strings":["School of Electrical & Electronic Engineering, Singapore polytechnics, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical & Electronic Engineering, Singapore polytechnics, Singapore","institution_ids":["https://openalex.org/I202502355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008501506","display_name":"Shuzhi Sam Ge","orcid":"https://orcid.org/0000-0001-5549-312X"},"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":"S.S. Ge","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056596758","display_name":"T.H. Lee","orcid":null},"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":"T.H. Lee","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5025797226"],"corresponding_institution_ids":["https://openalex.org/I202502355"],"apc_list":null,"apc_paid":null,"fwci":1.6187,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.86013284,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"12","issue":null,"first_page":"615","last_page":"619"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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/T10653","display_name":"Robot Manipulation and Learning","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":0.9977999925613403,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9976000189781189,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8012877702713013},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6852766275405884},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6535189151763916},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.6383052468299866},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6207659840583801},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5982134342193604},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5792516469955444},{"id":"https://openalex.org/keywords/impedance-parameters","display_name":"Impedance parameters","score":0.5434011816978455},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4966326355934143},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4384540915489197},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2970786690711975},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23878949880599976},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13659891486167908}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8012877702713013},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6852766275405884},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6535189151763916},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.6383052468299866},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6207659840583801},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5982134342193604},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5792516469955444},{"id":"https://openalex.org/C113805353","wikidata":"https://www.wikidata.org/wiki/Q13424600","display_name":"Impedance parameters","level":3,"score":0.5434011816978455},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4966326355934143},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4384540915489197},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2970786690711975},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23878949880599976},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13659891486167908},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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},{"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/isic.2002.1157833","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isic.2002.1157833","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the IEEE Internatinal Symposium on Intelligent Control","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":13,"referenced_works":["https://openalex.org/W1493190793","https://openalex.org/W1596951786","https://openalex.org/W1967377907","https://openalex.org/W1983610273","https://openalex.org/W1994067443","https://openalex.org/W2038128936","https://openalex.org/W2065676327","https://openalex.org/W2105360813","https://openalex.org/W2124776405","https://openalex.org/W2136447622","https://openalex.org/W2224859784","https://openalex.org/W4255204060","https://openalex.org/W6678851513"],"related_works":["https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W4295916778","https://openalex.org/W2573372219","https://openalex.org/W2112995122","https://openalex.org/W2165087119","https://openalex.org/W2109744644","https://openalex.org/W1991810297"],"abstract_inverted_index":{"To":[0],"achieve":[1],"the":[2,15,18,32,49,53,60,86,89,92,99,106,114,128,131],"desired":[3,107],"dynamic":[4,12,61,83],"impedance,":[5],"traditional":[6],"impedance":[7,33,73,100,108],"control":[8,24,27,34,74],"requires":[9],"an":[10],"exact":[11,46],"modeling":[13],"of":[14,41,48,59,85,91,130],"robot":[16,38],"and":[17,25,56,88,112,117],"environment.":[19],"Though":[20],"recently":[21],"some":[22,45],"robust":[23],"adaptive":[26,72],"schemes":[28],"were":[29],"incorporated":[30],"in":[31],"for":[35],"uncertain":[36],"constrained":[37],"systems,":[39],"most":[40],"them":[42],"still":[43],"require":[44,82],"information":[47],"modelling":[50,84],"such":[51],"as":[52],"regressor":[54],"matrix":[55],"nominal":[57],"values":[58],"terms.":[62],"In":[63],"this":[64],"paper,":[65],"a":[66],"model":[67],"free":[68],"neural":[69,93],"network":[70,94],"based":[71],"scheme":[75],"is":[76,109],"developed.":[77],"The":[78],"controller":[79],"does":[80],"not":[81],"system,":[87],"weights":[90],"are":[95,120,124],"tuned":[96],"directly":[97],"with":[98],"tracking":[101],"errors.":[102],"It":[103],"guarantees":[104],"that":[105],"achieved":[110],"asymptotically":[111],"both":[113],"position":[115],"errors":[116,119],"force":[118],"bounded.":[121],"Simulation":[122],"results":[123],"provided":[125],"to":[126],"verify":[127],"effectiveness":[129],"scheme.":[132]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
