{"id":"https://openalex.org/W2318613964","doi":"https://doi.org/10.1109/lra.2016.2526062","title":"Model-Less Hybrid Position/Force Control: A Minimalist Approach for Continuum Manipulators in Unknown, Constrained Environments","display_name":"Model-Less Hybrid Position/Force Control: A Minimalist Approach for Continuum Manipulators in Unknown, Constrained Environments","publication_year":2016,"publication_date":"2016-02-05","ids":{"openalex":"https://openalex.org/W2318613964","doi":"https://doi.org/10.1109/lra.2016.2526062","mag":"2318613964"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2016.2526062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2526062","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5054598974","display_name":"Michael C. Yip","orcid":"https://orcid.org/0000-0001-9689-0172"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Michael C. Yip","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California, San Diego, La Jolla, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051027391","display_name":"David B. Camarillo","orcid":"https://orcid.org/0000-0003-4965-2977"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David B. Camarillo","raw_affiliation_strings":["Department of Bioengineering, Stanford University, Stanford, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Bioengineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5054598974"],"corresponding_institution_ids":["https://openalex.org/I36258959"],"apc_list":null,"apc_paid":null,"fwci":5.4156,"has_fulltext":false,"cited_by_count":146,"citation_normalized_percentile":{"value":0.96021531,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"1","issue":"2","first_page":"844","last_page":"851"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9919000267982483,"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":0.9847999811172485,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7011486291885376},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6038944125175476},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.572729766368866},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5376395583152771},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46076324582099915},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44601184129714966},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43943676352500916},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.41503244638442993},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2785765826702118},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21964433789253235},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17721116542816162}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7011486291885376},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6038944125175476},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.572729766368866},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5376395583152771},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46076324582099915},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44601184129714966},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43943676352500916},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.41503244638442993},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2785765826702118},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21964433789253235},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17721116542816162},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2016.2526062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2526062","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1024591929","https://openalex.org/W1501620382","https://openalex.org/W1503317857","https://openalex.org/W1558901143","https://openalex.org/W1560270123","https://openalex.org/W1869209982","https://openalex.org/W1962883659","https://openalex.org/W1969604763","https://openalex.org/W1988003703","https://openalex.org/W1997060717","https://openalex.org/W2009421387","https://openalex.org/W2016958754","https://openalex.org/W2023419272","https://openalex.org/W2037290941","https://openalex.org/W2053265216","https://openalex.org/W2057785338","https://openalex.org/W2060978823","https://openalex.org/W2065682774","https://openalex.org/W2096645690","https://openalex.org/W2101797976","https://openalex.org/W2107712101","https://openalex.org/W2110062942","https://openalex.org/W2117402460","https://openalex.org/W2119531408","https://openalex.org/W2121744551","https://openalex.org/W2131150943","https://openalex.org/W2131576310","https://openalex.org/W2133231729","https://openalex.org/W2139470902","https://openalex.org/W2147492425","https://openalex.org/W2148959073","https://openalex.org/W2154963387","https://openalex.org/W2156218502","https://openalex.org/W2160249763","https://openalex.org/W2160825462","https://openalex.org/W2164013717","https://openalex.org/W2169748775","https://openalex.org/W2497222879","https://openalex.org/W4251181231","https://openalex.org/W6626563427"],"related_works":["https://openalex.org/W2007405763","https://openalex.org/W1486373823","https://openalex.org/W3136087161","https://openalex.org/W2053762185","https://openalex.org/W2119578520","https://openalex.org/W2018238589","https://openalex.org/W2145980196","https://openalex.org/W1984283682","https://openalex.org/W2235865024","https://openalex.org/W4310080990"],"abstract_inverted_index":{"Continuum":[0],"manipulators":[1,137],"are":[2,10,150],"designed":[3],"to":[4,19,21,68,78,103],"operate":[5],"in":[6,80,83],"constrained":[7],"environments":[8],"that":[9,57,70],"often":[11],"unknown":[12,31,153],"or":[13],"unsensed,":[14],"relying":[15],"on":[16,42],"body":[17,29],"compliance":[18],"conform":[20],"obstacles.":[22],"The":[23],"interaction":[24],"mechanics":[25],"between":[26],"the":[27,72,81,90,93,99,127,144],"compliant":[28],"and":[30,76,122,140,152],"environment":[32,82,91],"present":[33],"significant":[34],"challenges":[35],"for":[36,117],"traditional":[37],"robot":[38],"control":[39,55,63,69,115],"techniques":[40],"based":[41],"modeling":[43],"these":[44,95,148],"interactions":[45,149],"exactly.":[46],"In":[47],"this":[48,109,134],"letter,":[49],"we":[50],"describe":[51],"a":[52,59,65,84,113],"hybrid":[53,114],"position/force":[54],"method":[56],"uses":[58],"model-less":[60,131],"approach.":[61],"Model-less":[62],"is":[64],"recently-described":[66],"approach":[67,116,129],"learns":[71],"continuum":[73,136],"manipulator":[74,100],"Jacobian":[75,101],"adapts":[77],"constraints":[79],"safe":[85],"manner.":[86],"When":[87],"interacting":[88],"with":[89,143],"using":[92],"end-effector,":[94],"tip-constraints":[96],"can":[97,138],"affect":[98],"estimates":[102],"become":[104],"ill-conditioned.":[105],"This":[106],"letter":[107],"addresses":[108],"issue":[110],"by":[111],"defining":[112],"simultaneously":[118],"controlling":[119],"end-effector":[120],"position":[121],"forces":[123],"while":[124],"still":[125],"maintaining":[126],"minimalist":[128],"of":[130],"control.":[132],"Under":[133],"method,":[135],"safely":[139],"effectively":[141],"interact":[142],"environment,":[145],"even":[146],"when":[147],"arbitrary":[151],"constraints.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":21},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":21},{"year":2022,"cited_by_count":19},{"year":2021,"cited_by_count":19},{"year":2020,"cited_by_count":18},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":14},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":4}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}