{"id":"https://openalex.org/W2544797012","doi":"https://doi.org/10.1109/isr.2013.6695632","title":"An adaptive hybrid force/motion control design for robot manipulators interacting in constrained motion with unknown non-rigid environments","display_name":"An adaptive hybrid force/motion control design for robot manipulators interacting in constrained motion with unknown non-rigid environments","publication_year":2013,"publication_date":"2013-10-01","ids":{"openalex":"https://openalex.org/W2544797012","doi":"https://doi.org/10.1109/isr.2013.6695632","mag":"2544797012"},"language":"en","primary_location":{"id":"doi:10.1109/isr.2013.6695632","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isr.2013.6695632","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ISR 2013","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/A5050651177","display_name":"Aghil Jafari","orcid":"https://orcid.org/0000-0002-7643-1822"},"institutions":[{"id":"https://openalex.org/I35886859","display_name":"Korea University of Technology and Education","ror":"https://ror.org/053nycv62","country_code":"KR","type":"education","lineage":["https://openalex.org/I35886859"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Aghil Jafari","raw_affiliation_strings":["School of Mechanical Engineering, Korea University of Technology and Education Cheonan, Rep. of Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Korea University of Technology and Education Cheonan, Rep. of Korea","institution_ids":["https://openalex.org/I35886859"]}]},{"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/I35886859","display_name":"Korea University of Technology and Education","ror":"https://ror.org/053nycv62","country_code":"KR","type":"education","lineage":["https://openalex.org/I35886859"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jee-Hwan Ryu","raw_affiliation_strings":["School of Mechanical Engineering, Korea University of Technology and Education Cheonan, Rep. of Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Korea University of Technology and Education Cheonan, Rep. of Korea","institution_ids":["https://openalex.org/I35886859"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102893101","display_name":"Mehdi Rezaei","orcid":"https://orcid.org/0000-0002-6918-9767"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mehdi Rezaei","raw_affiliation_strings":["Department of Mechanical Engineering, Amirkabir University of technology, Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Amirkabir University of technology, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024536966","display_name":"Reza Monfaredi","orcid":"https://orcid.org/0000-0003-1507-8137"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Reza Monfaredi","raw_affiliation_strings":["Department of Mechanical Engineering, Amirkabir University of technology, Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Amirkabir University of technology, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032706707","display_name":"Heidar Ali Talebi","orcid":"https://orcid.org/0000-0001-6038-2109"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Ali Talebi","raw_affiliation_strings":["Department of Mechanical Engineering, Amirkabir University of technology, Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Amirkabir University of technology, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024741305","display_name":"Saeed Shiry Ghidary","orcid":"https://orcid.org/0000-0002-9019-3947"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Saeed Shiry Ghidary","raw_affiliation_strings":["Department of Mechanical Engineering, Amirkabir University of technology, Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Amirkabir University of technology, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5050651177"],"corresponding_institution_ids":["https://openalex.org/I35886859"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.52460882,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"33","issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9966999888420105,"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":0.9965999722480774,"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":0.7853217124938965},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5796527862548828},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5648257732391357},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.549622654914856},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5342919230461121},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5043593645095825},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.49297451972961426},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.48839491605758667},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.47635459899902344},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4626624882221222},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.44440770149230957},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.43534231185913086},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43413421511650085},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2886098325252533},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2695186138153076},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22670221328735352},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22467517852783203},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.13126885890960693},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07697424292564392}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7853217124938965},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5796527862548828},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5648257732391357},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.549622654914856},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5342919230461121},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5043593645095825},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.49297451972961426},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.48839491605758667},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.47635459899902344},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4626624882221222},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.44440770149230957},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.43534231185913086},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43413421511650085},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2886098325252533},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2695186138153076},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22670221328735352},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22467517852783203},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.13126885890960693},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07697424292564392},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isr.2013.6695632","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isr.2013.6695632","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ISR 2013","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1687463254","https://openalex.org/W1968142411","https://openalex.org/W1988882685","https://openalex.org/W2012438182","https://openalex.org/W2015724430","https://openalex.org/W2043831253","https://openalex.org/W2073070812","https://openalex.org/W2077707799","https://openalex.org/W2092525548","https://openalex.org/W2111629263","https://openalex.org/W2115083853","https://openalex.org/W2123411906","https://openalex.org/W2132304451","https://openalex.org/W2136855696","https://openalex.org/W2151321259","https://openalex.org/W2153463567","https://openalex.org/W2165092969","https://openalex.org/W2169723076","https://openalex.org/W2540545624","https://openalex.org/W4243216834","https://openalex.org/W4253176881","https://openalex.org/W6676915794"],"related_works":["https://openalex.org/W2570672926","https://openalex.org/W4378191988","https://openalex.org/W3210882399","https://openalex.org/W1984186897","https://openalex.org/W1976172674","https://openalex.org/W1862849712","https://openalex.org/W4400124295","https://openalex.org/W2124086581","https://openalex.org/W4210941726","https://openalex.org/W4242231179"],"abstract_inverted_index":{"In":[0],"the":[1,4,22,27,45,49,61,69,74,77,81,88,93,99],"present":[2],"paper,":[3],"objective":[5],"of":[6,24,76,80,87,101],"hybrid":[7,14,25,105],"control":[8,16,71,106],"is":[9,18,30,41,51,66],"specified":[10],"and":[11,34],"an":[12,55],"adaptive":[13,39,104],"force/motion":[15],"approach":[17],"proposed.":[19],"Based":[20],"on":[21],"concept":[23],"control,":[26],"task":[28],"space":[29],"decomposed":[31],"into":[32],"position":[33],"force":[35,91],"controlled":[36],"subspaces.":[37],"An":[38],"scheme":[40],"presented":[42],"which":[43],"makes":[44],"controller":[46],"robust":[47],"when":[48],"robot":[50],"in":[52,107],"interaction":[53],"with":[54,85],"unknown":[56],"non-rigid":[57],"environment.":[58],"By":[59],"using":[60],"classical":[62],"Lyapunov":[63],"method,":[64],"it":[65],"demonstrated":[67],"that":[68],"proposed":[70],"law":[72],"ensures":[73],"tracking":[75],"unconstrained":[78],"components":[79],"desired":[82,89],"end-effector":[83],"trajectories,":[84],"regulation":[86],"contact":[90],"along":[92],"constrained":[94],"direction.":[95],"Simulation":[96],"results":[97],"verify":[98],"effectiveness":[100],"our":[102],"prosperous":[103],"robot-environment":[108],"interaction.":[109]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}