{"id":"https://openalex.org/W3045175152","doi":"https://doi.org/10.1109/lra.2020.3010458","title":"Coupled Task-Space Admittance Controller Using Dual Quaternion Logarithmic Mapping","display_name":"Coupled Task-Space Admittance Controller Using Dual Quaternion Logarithmic Mapping","publication_year":2020,"publication_date":"2020-07-21","ids":{"openalex":"https://openalex.org/W3045175152","doi":"https://doi.org/10.1109/lra.2020.3010458","mag":"3045175152"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3010458","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3010458","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":true,"oa_status":"green","oa_url":"https://research.manchester.ac.uk/en/publications/46306f92-17d0-4e50-94fc-30301f229458","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022062467","display_name":"Mariana de Paula Assis Fonseca","orcid":"https://orcid.org/0000-0003-4083-5355"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Mariana de Paula Assis Fonseca","raw_affiliation_strings":["Graduate Program in Electrical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil"],"raw_orcid":"https://orcid.org/0000-0003-4083-5355","affiliations":[{"raw_affiliation_string":"Graduate Program in Electrical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023189266","display_name":"Bruno Vilhena Adorno","orcid":"https://orcid.org/0000-0002-5080-8724"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Bruno Vilhena Adorno","raw_affiliation_strings":["Department of Electrical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil"],"raw_orcid":"https://orcid.org/0000-0002-5080-8724","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070253135","display_name":"Philippe Fraisse","orcid":"https://orcid.org/0000-0003-0911-0743"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Fraisse","raw_affiliation_strings":["LIRMM UMR 5506 CNRS - Universit\u00e9 de Montpellier, Montpellier, France"],"raw_orcid":"https://orcid.org/0000-0003-0911-0743","affiliations":[{"raw_affiliation_string":"LIRMM UMR 5506 CNRS - Universit\u00e9 de Montpellier, Montpellier, France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1915,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.78691403,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"5","issue":"4","first_page":"6057","last_page":"6064"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9986000061035156,"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":0.9948999881744385,"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":0.7311480045318604},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7148242592811584},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.5896733999252319},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.46437445282936096},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4493912160396576},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43874597549438477},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.3406603932380676},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33167973160743713},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2233070731163025},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2083723247051239},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12894558906555176},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1020517647266388}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7311480045318604},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7148242592811584},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.5896733999252319},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.46437445282936096},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4493912160396576},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43874597549438477},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.3406603932380676},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33167973160743713},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2233070731163025},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2083723247051239},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12894558906555176},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1020517647266388},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2020.3010458","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3010458","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:pure.atira.dk:openaire_cris_publications/46306f92-17d0-4e50-94fc-30301f229458","is_oa":true,"landing_page_url":"https://research.manchester.ac.uk/en/publications/46306f92-17d0-4e50-94fc-30301f229458","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fonseca, M D P A, Adorno, B V & Fraisse, P 2020, 'Coupled Task-Space Admittance Controller Using Dual Quaternion Logarithmic Mapping', IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 6057-6064. https://doi.org/10.1109/LRA.2020.3010458","raw_type":"article"},{"id":"pmh:oai:pure.atira.dk:publications/46306f92-17d0-4e50-94fc-30301f229458","is_oa":false,"landing_page_url":"https://www.research.manchester.ac.uk/portal/en/publications/coupled-taskspace-admittance-controller-using-dual-quaternion-logarithmic-mapping(46306f92-17d0-4e50-94fc-30301f229458).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/46306f92-17d0-4e50-94fc-30301f229458","is_oa":true,"landing_page_url":"https://research.manchester.ac.uk/en/publications/46306f92-17d0-4e50-94fc-30301f229458","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fonseca, M D P A, Adorno, B V & Fraisse, P 2020, 'Coupled Task-Space Admittance Controller Using Dual Quaternion Logarithmic Mapping', IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 6057-6064. https://doi.org/10.1109/LRA.2020.3010458","raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W83533993","https://openalex.org/W246666880","https://openalex.org/W1487127700","https://openalex.org/W1509235676","https://openalex.org/W1534096605","https://openalex.org/W1967377907","https://openalex.org/W1978023077","https://openalex.org/W2095198763","https://openalex.org/W2106296284","https://openalex.org/W2113265921","https://openalex.org/W2152930672","https://openalex.org/W2159721734","https://openalex.org/W2584800277","https://openalex.org/W2731412061","https://openalex.org/W2952744839","https://openalex.org/W2955354570","https://openalex.org/W2979748103","https://openalex.org/W3041107080","https://openalex.org/W3098928759","https://openalex.org/W3106261067","https://openalex.org/W4229605281","https://openalex.org/W4240790602","https://openalex.org/W6740307061","https://openalex.org/W6765437006","https://openalex.org/W6912513842"],"related_works":["https://openalex.org/W3127350447","https://openalex.org/W3108700312","https://openalex.org/W2162207896","https://openalex.org/W2365529104","https://openalex.org/W2133851415","https://openalex.org/W2976589093","https://openalex.org/W4248671285","https://openalex.org/W1594265855","https://openalex.org/W3205034227","https://openalex.org/W2052026177"],"abstract_inverted_index":{"This":[0],"letter":[1],"proposes":[2],"a":[3,21,60,68,97,107,112,153,173],"six-DOF":[4,134],"task-space":[5],"admittance":[6],"controller":[7,26,128,145],"using":[8],"the":[9,15,31,34,37,46,50,63,85,89,102,116,126,132,137,140,159],"dual":[10],"quaternion":[11],"logarithmic":[12],"mapping,":[13],"coupling":[14],"translation":[16],"and":[17,36,57,162,169],"rotation":[18],"impedance":[19,100],"in":[20,115,150],"single":[22],"mathematical":[23],"structure.":[24],"The":[25,72],"is":[27,40,52,75,164],"designed":[28],"based":[29,66],"on":[30,67,106],"energy":[32],"of":[33,54,77,88,125,131,139],"system":[35,74],"stiffness":[38],"matrix":[39],"build":[41],"to":[42,83,101,158],"be":[43],"consistent":[44],"with":[45,111,119],"task":[47],"geometry.":[48],"Moreover,":[49],"formulation":[51],"free":[53,165],"topological":[55,167],"obstruction":[56,168],"we":[58],"present":[59],"solution":[61],"for":[62],"unwinding":[64],"phenomenon":[65],"switched":[69],"error":[70],"function.":[71],"closed-loop":[73,155],"composed":[76],"an":[78,93,147],"inner":[79],"motion":[80],"control":[81,176],"loop":[82,95],"ensure":[84],"trajectory":[86],"tracking":[87],"end-effector":[90],"pose":[91],"while":[92,171],"outer":[94],"imposes":[96],"desired":[98,160],"apparent":[99],"robot.":[103],"Experiments":[104],"executed":[105],"KUKA":[108],"LWR4+":[109],"robot":[110],"force/torque":[113],"sensor":[114],"end-effector,":[117],"together":[118],"statistical":[120],"analyses,":[121],"show":[122],"better":[123],"performance":[124],"proposed":[127],"over":[129],"one":[130],"main":[133],"controllers":[135],"from":[136,166],"state":[138],"art.":[141],"More":[142],"specifically,":[143],"our":[144],"presents":[146],"exponential":[148],"decay":[149],"all":[151],"situations,":[152],"task-error":[154],"behavior":[156],"closer":[157],"one,":[161],"it":[163],"unwinding,":[170],"presenting":[172],"statistically":[174],"equivalent":[175],"effort.":[177]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}