{"id":"https://openalex.org/W2999281202","doi":"https://doi.org/10.1109/lra.2020.2975725","title":"Convex Controller Synthesis for Robot Contact","display_name":"Convex Controller Synthesis for Robot Contact","publication_year":2020,"publication_date":"2020-02-25","ids":{"openalex":"https://openalex.org/W2999281202","doi":"https://doi.org/10.1109/lra.2020.2975725","mag":"2999281202"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2975725","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2975725","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1909.04313","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101616947","display_name":"Hung Pham","orcid":"https://orcid.org/0000-0001-6116-1359"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Hung Pham","raw_affiliation_strings":["Eureka Robotics, Singapore and School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-6116-1359","affiliations":[{"raw_affiliation_string":"Eureka Robotics, Singapore and School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081279690","display_name":"Quang\u2010Cuong Pham","orcid":"https://orcid.org/0000-0001-9605-4940"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Quang-Cuong Pham","raw_affiliation_strings":["Eureka Robotics, Singapore and School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-9605-4940","affiliations":[{"raw_affiliation_string":"Eureka Robotics, Singapore and School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101616947"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":0.2976,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.53112769,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"5","issue":"2","first_page":"3330","last_page":"3337"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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":0.9994000196456909,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9983999729156494,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9976999759674072,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7146108746528625},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6820906400680542},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.613523542881012},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5932241082191467},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.5754277110099792},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5735412240028381},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5240749716758728},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49811887741088867},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.49796009063720703},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.49718382954597473},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.491879940032959},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.40458694100379944},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28132498264312744},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.21141019463539124},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21107962727546692},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13986825942993164}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7146108746528625},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6820906400680542},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.613523542881012},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5932241082191467},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.5754277110099792},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5735412240028381},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5240749716758728},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49811887741088867},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.49796009063720703},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.49718382954597473},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.491879940032959},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.40458694100379944},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28132498264312744},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.21141019463539124},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21107962727546692},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13986825942993164},{"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2020.2975725","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2975725","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"},{"id":"pmh:oai:arXiv.org:1909.04313","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.04313","pdf_url":"https://arxiv.org/pdf/1909.04313","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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"},{"id":"mag:2999281202","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1909.04313v2","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1909.04313","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1909.04313","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1909.04313","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.04313","pdf_url":"https://arxiv.org/pdf/1909.04313","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W2999281202.pdf"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1560270123","https://openalex.org/W1978956894","https://openalex.org/W2036759854","https://openalex.org/W2076420009","https://openalex.org/W2080487795","https://openalex.org/W2101773087","https://openalex.org/W2121117794","https://openalex.org/W2127763473","https://openalex.org/W2148548256","https://openalex.org/W2150024155","https://openalex.org/W2150471469","https://openalex.org/W2151083101","https://openalex.org/W2160958903","https://openalex.org/W2161428833","https://openalex.org/W2206396106","https://openalex.org/W2416622902","https://openalex.org/W2561824496","https://openalex.org/W2587491645","https://openalex.org/W2735902434","https://openalex.org/W2736842585","https://openalex.org/W2762973286","https://openalex.org/W2771972772","https://openalex.org/W2800779097","https://openalex.org/W2964066074","https://openalex.org/W4243385754"],"related_works":["https://openalex.org/W2737488931","https://openalex.org/W3017303660","https://openalex.org/W2911585099","https://openalex.org/W2792553316","https://openalex.org/W3170706013","https://openalex.org/W2767302037","https://openalex.org/W2605019855","https://openalex.org/W3103368812","https://openalex.org/W2766843648","https://openalex.org/W1966350200","https://openalex.org/W3033343353","https://openalex.org/W3101870171","https://openalex.org/W3181222244","https://openalex.org/W3003894547","https://openalex.org/W3007820814","https://openalex.org/W3148610713","https://openalex.org/W2962784835","https://openalex.org/W3087447627","https://openalex.org/W2556364163","https://openalex.org/W2783859738"],"abstract_inverted_index":{"Controlling":[0],"contacts":[1],"is":[2],"truly":[3],"challenging,":[4],"and":[5,45,54,83,95,101],"this":[6],"has":[7],"been":[8],"a":[9,64],"major":[10],"hurdle":[11],"to":[12,27,35,42,73],"deploying":[13],"industrial":[14],"robots":[15],"into":[16],"unstructured/human-centric":[17],"environments.":[18],"More":[19],"specifically,":[20],"the":[21,75],"main":[22],"challenges":[23,77],"are:":[24],"(i)":[25,44],"how":[26,34,41],"ensure":[28],"stability":[29],"at":[30],"all":[31],"times;":[32],"(ii)":[33,46],"satisfy":[36],"task-specific":[37],"performance":[38],"specifications;":[39],"(iii)":[40],"achieve":[43],"under":[47],"environment":[48],"uncertainty,":[49,52],"robot":[50,92],"parameters":[51],"sensor":[53],"actuator":[55],"time":[56],"delays,":[57],"external":[58],"perturbations,":[59],"etc.":[60],"Here,":[61],"we":[62,105],"propose":[63],"new":[65],"approach":[66],"-":[67,72,91,104],"Convex":[68],"Controller":[69],"Synthesis":[70],"(CCS)":[71],"tackle":[74],"above":[76],"based":[78],"on":[79,97],"robust":[80],"control":[81],"theory":[82],"convex":[84],"optimization.":[85],"In":[86],"two":[87],"physical":[88],"interaction":[89],"tasks":[90],"hand":[93],"guiding":[94],"sliding":[96],"surfaces":[98],"with":[99],"different":[100],"unknown":[102],"stiffnesses":[103],"show":[106],"that":[107],"CCS":[108],"controllers":[109],"outperform":[110],"their":[111],"classical":[112],"counterparts":[113],"in":[114],"an":[115],"essential":[116],"way.":[117]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}