{"id":"https://openalex.org/W2800040872","doi":"https://doi.org/10.1109/lra.2018.2833142","title":"A Dynamical-System-Based Approach for Controlling Robotic Manipulators During Noncontact/Contact Transitions","display_name":"A Dynamical-System-Based Approach for Controlling Robotic Manipulators During Noncontact/Contact Transitions","publication_year":2018,"publication_date":"2018-05-04","ids":{"openalex":"https://openalex.org/W2800040872","doi":"https://doi.org/10.1109/lra.2018.2833142","mag":"2800040872"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2833142","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2833142","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/255068","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5052509888","display_name":"Seyed Sina Mirrazavi Salehian","orcid":"https://orcid.org/0000-0001-7448-101X"},"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":"Seyed Sina Mirrazavi Salehian","raw_affiliation_strings":["School of Engineering, Ecole Polytechnique Federale de Lausanne (EPFL), Lausanne, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-7448-101X","affiliations":[{"raw_affiliation_string":"School of Engineering, 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":["School of Engineering, Ecole Polytechnique Federale de Lausanne (EPFL), Lausanne, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-7076-8010","affiliations":[{"raw_affiliation_string":"School of Engineering, 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":3.2222,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.92123417,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"3","issue":"4","first_page":"2738","last_page":"2745"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9983000159263611,"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/robot","display_name":"Robot","score":0.6813724040985107},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6561026573181152},{"id":"https://openalex.org/keywords/millisecond","display_name":"Millisecond","score":0.6210582256317139},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5740046501159668},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5521442890167236},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5084589719772339},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.4913162291049957},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.41052547097206116},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39452874660491943},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24979880452156067},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2444533407688141},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.214927077293396},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1544169783592224},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11301153898239136}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6813724040985107},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6561026573181152},{"id":"https://openalex.org/C60327585","wikidata":"https://www.wikidata.org/wiki/Q723733","display_name":"Millisecond","level":2,"score":0.6210582256317139},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5740046501159668},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5521442890167236},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5084589719772339},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.4913162291049957},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.41052547097206116},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39452874660491943},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24979880452156067},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2444533407688141},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.214927077293396},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1544169783592224},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11301153898239136},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2018.2833142","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2833142","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:255068","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/255068","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"research article"},{"id":"pmh:oai:infoscience.epfl.ch:258163","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/258163","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://infoscience.epfl.ch/record/258163","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:255068","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/255068","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"research article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1541925238","https://openalex.org/W1555431109","https://openalex.org/W1783961574","https://openalex.org/W1975080353","https://openalex.org/W1981083880","https://openalex.org/W1994691148","https://openalex.org/W2027248669","https://openalex.org/W2030397050","https://openalex.org/W2049514064","https://openalex.org/W2050487839","https://openalex.org/W2057538835","https://openalex.org/W2084980131","https://openalex.org/W2097679637","https://openalex.org/W2103120971","https://openalex.org/W2103929186","https://openalex.org/W2106985813","https://openalex.org/W2132304451","https://openalex.org/W2134801739","https://openalex.org/W2137498472","https://openalex.org/W2148446014","https://openalex.org/W2156344546","https://openalex.org/W2187358595","https://openalex.org/W2247230765","https://openalex.org/W2327315597","https://openalex.org/W2328100584","https://openalex.org/W2464089775","https://openalex.org/W2596087839","https://openalex.org/W2753320496","https://openalex.org/W2792984727","https://openalex.org/W4252287909","https://openalex.org/W6681955408","https://openalex.org/W6749648994"],"related_works":["https://openalex.org/W2368158069","https://openalex.org/W2074671889","https://openalex.org/W2129058931","https://openalex.org/W2489894763","https://openalex.org/W2326371383","https://openalex.org/W2117860500","https://openalex.org/W1975734016","https://openalex.org/W2000511220","https://openalex.org/W2151892686","https://openalex.org/W2373010197"],"abstract_inverted_index":{"Many":[0],"daily":[1],"life":[2],"tasks":[3],"require":[4],"precise":[5],"control":[6,121],"when":[7,148],"making":[8],"contact":[9,20,33,47,145],"with":[10,34,95],"surfaces.":[11],"Ensuring":[12],"a":[13,25,58,74,155,169],"smooth":[14,124],"transition":[15],"from":[16],"free":[17],"motion":[18],"to":[19,31,66,68,93,120],"is":[21,48,89,152],"crucial":[22],"as":[23,51,92],"incurring":[24],"large":[26],"impact":[27,53,70],"force":[28],"may":[29],"lead":[30],"unstable":[32],"the":[35,39,44,52,64,69,78,96,100,118,123,136,139,144,149,161,166],"robot":[36,65,79,140],"bouncing":[37],"on":[38,165],"surface,":[40,146],"i.e.,":[41],"chattering.":[42],"Stabilizing":[43],"forces":[45],"at":[46,126,154,168],"not":[49],"possible":[50],"lasts":[54],"for":[55,63,106,122],"less":[56],"than":[57],"millisecond,":[59],"leaving":[60],"no":[61],"time":[62],"react":[67],"force.":[71],"We":[72,98,128],"present":[73],"strategy":[75],"in":[76],"which":[77],"adapts":[80],"its":[81],"dynamic":[82],"before":[83],"entering":[84],"into":[85],"contact.":[86,127],"The":[87],"speed":[88],"modulated":[90],"so":[91],"align":[94],"surface.":[97],"leverage":[99],"properties":[101],"of":[102,117],"autonomous":[103],"dynamical":[104],"systems":[105],"immediate":[107],"replanning":[108],"and":[109,113,131,158],"handling":[110],"unforeseen":[111],"perturbations":[112],"exploit":[114],"local":[115],"modulations":[116],"dynamics":[119],"transitions":[125],"show":[129],"theoretically":[130],"empirically":[132],"that":[133],"by":[134],"using":[135],"modulation":[137],"framework,":[138],"can":[141],"stably":[142],"touch":[143],"even":[147],"surface's":[150],"location":[151],"uncertain,":[153],"desired":[156,170],"location,":[157],"finally,":[159],"leave":[160],"surface":[162,167],"or":[163],"stop":[164],"point.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}