{"id":"https://openalex.org/W2244449411","doi":"https://doi.org/10.1109/lra.2015.2509025","title":"Passive Interaction Control With Dynamical Systems","display_name":"Passive Interaction Control With Dynamical Systems","publication_year":2015,"publication_date":"2015-12-17","ids":{"openalex":"https://openalex.org/W2244449411","doi":"https://doi.org/10.1109/lra.2015.2509025","mag":"2244449411"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2015.2509025","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2015.2509025","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/221276","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078342243","display_name":"Klas Kronander","orcid":"https://orcid.org/0000-0001-9528-770X"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Klas Kronander","raw_affiliation_strings":["Learning Algorithms and Systems Laboratory (LASA), Ecole Polytechnique Federale de Lausanne (EPFL), Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory (LASA), Ecole Polytechnique Federale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090592452","display_name":"Aude Billard","orcid":"https://orcid.org/0000-0002-7076-8010"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Aude Billard","raw_affiliation_strings":["Learning Algorithms and Systems Laboratory (LASA), Ecole Polytechnique Federale de Lausanne (EPFL), Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory (LASA), Ecole Polytechnique Federale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":2.3726,"has_fulltext":false,"cited_by_count":87,"citation_normalized_percentile":{"value":0.89444794,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"1","issue":"1","first_page":"106","last_page":"113"},"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":0.9972000122070312,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9851999878883362,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.817624568939209},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6672046184539795},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6515293717384338},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.633226215839386},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6192390322685242},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6176189184188843},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5732391476631165},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5147671699523926},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.491759330034256},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3855942487716675},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2953519821166992},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19972795248031616}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.817624568939209},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6672046184539795},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6515293717384338},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.633226215839386},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6192390322685242},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6176189184188843},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5732391476631165},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5147671699523926},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.491759330034256},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3855942487716675},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2953519821166992},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19972795248031616},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2015.2509025","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2015.2509025","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:infoscience.epfl.ch:221276","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/221276","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:221276","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/221276","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8410381262","display_name":null,"funder_award_id":"288533","funder_id":"https://openalex.org/F4320334960","funder_display_name":"Seventh Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320334960","display_name":"Seventh Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1541925238","https://openalex.org/W1967377907","https://openalex.org/W1974357213","https://openalex.org/W1977013839","https://openalex.org/W1977655452","https://openalex.org/W1978023077","https://openalex.org/W1981083880","https://openalex.org/W1991667713","https://openalex.org/W1994691148","https://openalex.org/W2003155905","https://openalex.org/W2048603489","https://openalex.org/W2057538835","https://openalex.org/W2083552623","https://openalex.org/W2096137237","https://openalex.org/W2113698995","https://openalex.org/W2116822311","https://openalex.org/W2129202194","https://openalex.org/W2131741815","https://openalex.org/W2142380406","https://openalex.org/W2161395589","https://openalex.org/W2169130436","https://openalex.org/W2180293407"],"related_works":["https://openalex.org/W4233304828","https://openalex.org/W4239268637","https://openalex.org/W2952841825","https://openalex.org/W2051296765","https://openalex.org/W1977819874","https://openalex.org/W2960878236","https://openalex.org/W153449849","https://openalex.org/W3131110707","https://openalex.org/W2716370379","https://openalex.org/W2785665096"],"abstract_inverted_index":{"Autonomous":[0],"dynamical":[1],"systems":[2],"(DS)":[3],"has":[4,45],"emerged":[5],"as":[6],"an":[7,26,43,121],"extremely":[8],"flexible":[9],"and":[10,54,87,104],"powerful":[11],"method":[12],"for":[13],"modeling":[14],"robotic":[15],"tasks.":[16],"Task":[17],"execution":[18],"of":[19,108],"DS":[20,57],"models":[21],"is":[22,51,85],"typically":[23],"done":[24],"in":[25,29,73,116,120],"open-loop":[27],"manner":[28],"combination":[30],"with":[31,81,125],"standard":[32],"low":[33],"level":[34],"controller,":[35],"e.g.":[36],"position":[37,84],"controller":[38],"or":[39,78],"impedance":[40],"controller.":[41],"Such":[42],"arrangement":[44],"two":[46],"important":[47],"drawbacks:":[48],"(1)":[49],"it":[50],"not":[52],"passive":[53],"(2)":[55],"the":[56,65,97,100,109],"model":[58],"cannot":[59],"respond":[60],"to":[61],"physical":[62],"perturbations":[63],"on":[64],"robot":[66,110],"body.":[67],"These":[68],"can":[69],"imply":[70],"severe":[71],"consequences":[72],"motion":[74],"tasks":[75],"involving":[76],"expected":[77],"unexpected":[79,126],"contact":[80],"objects":[82],"whose":[83],"unknown":[86],"dynamic.":[88],"We":[89,112],"propose":[90],"a":[91,117],"novel":[92],"control":[93],"architecture":[94],"that":[95],"closes":[96],"loop":[98],"around":[99],"DS,":[101],"ensures":[102],"passivity":[103],"allows":[105],"intuitive":[106],"tuning":[107],"impedance.":[111],"evaluate":[113],"our":[114],"approach":[115],"comparative":[118],"study":[119],"uncertain":[122],"manipulation":[123],"task":[124],"contact.":[127]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}