{"id":"https://openalex.org/W3028308378","doi":"https://doi.org/10.1109/lra.2020.3010739","title":"Learning Force Control for Contact-Rich Manipulation Tasks With Rigid Position-Controlled Robots","display_name":"Learning Force Control for Contact-Rich Manipulation Tasks With Rigid Position-Controlled Robots","publication_year":2020,"publication_date":"2020-07-21","ids":{"openalex":"https://openalex.org/W3028308378","doi":"https://doi.org/10.1109/lra.2020.3010739","mag":"3028308378"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3010739","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3010739","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2003.00628","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001592945","display_name":"Cristian C. Beltran-Hernandez","orcid":"https://orcid.org/0000-0002-1134-009X"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Cristian Camilo Beltran-Hernandez","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Osaka, Japan"],"raw_orcid":"https://orcid.org/0000-0002-1134-009X","affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033703628","display_name":"Damien Petit","orcid":"https://orcid.org/0000-0002-3675-5371"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Damien Petit","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Osaka, Japan"],"raw_orcid":"https://orcid.org/0000-0002-3675-5371","affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064317353","display_name":"Ixchel G. Ram\u00edrez-Alpizar","orcid":"https://orcid.org/0000-0002-7805-7539"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ixchel Georgina Ramirez-Alpizar","raw_affiliation_strings":["Automation Research Team, Industrial CPS Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Tokyo, Japan","Graduate School of Engineering Science, Osaka University, Osaka, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7805-7539","affiliations":[{"raw_affiliation_string":"Automation Research Team, Industrial CPS Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110686634","display_name":"Takayuki Nishi","orcid":null},"institutions":[{"id":"https://openalex.org/I2948482138","display_name":"Fujifilm (Japan)","ror":"https://ror.org/0493bmq37","country_code":"JP","type":"company","lineage":["https://openalex.org/I2948482138"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takayuki Nishi","raw_affiliation_strings":["Process Engineering & Technology Center, Research & Development Management Headquarters, FUJIFILM Corporation, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Process Engineering & Technology Center, Research & Development Management Headquarters, FUJIFILM Corporation, Tokyo, Japan","institution_ids":["https://openalex.org/I2948482138"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066569768","display_name":"Shinichi Kikuchi","orcid":"https://orcid.org/0000-0003-0993-0733"},"institutions":[{"id":"https://openalex.org/I2948482138","display_name":"Fujifilm (Japan)","ror":"https://ror.org/0493bmq37","country_code":"JP","type":"company","lineage":["https://openalex.org/I2948482138"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shinichi Kikuchi","raw_affiliation_strings":["Process Engineering & Technology Center, Research & Development Management Headquarters, FUJIFILM Corporation, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-0993-0733","affiliations":[{"raw_affiliation_string":"Process Engineering & Technology Center, Research & Development Management Headquarters, FUJIFILM Corporation, Tokyo, Japan","institution_ids":["https://openalex.org/I2948482138"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042074952","display_name":"Takamitsu Matsubara","orcid":"https://orcid.org/0000-0003-3545-4814"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takamitsu Matsubara","raw_affiliation_strings":["Robot Learning Laboratory, Institute for Research Initiatives, Nara Institute of Science and Technology (NAIST), Ikoma, Japan"],"raw_orcid":"https://orcid.org/0000-0003-3545-4814","affiliations":[{"raw_affiliation_string":"Robot Learning Laboratory, Institute for Research Initiatives, Nara Institute of Science and Technology (NAIST), Ikoma, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016270703","display_name":"Kensuke Harada","orcid":"https://orcid.org/0000-0002-7576-756X"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kensuke Harada","raw_affiliation_strings":["Automation Research Team, Industrial CPS Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Tokyo, Japan","Graduate School of Engineering Science, Osaka University, Osaka, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7576-756X","affiliations":[{"raw_affiliation_string":"Automation Research Team, Industrial CPS Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":13.2552,"has_fulltext":false,"cited_by_count":150,"citation_normalized_percentile":{"value":0.99292695,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"5","issue":"4","first_page":"5709","last_page":"5716"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.996999979019165,"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":0.9947999715805054,"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":0.6239199042320251},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5645995140075684},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4891410171985626},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48561301827430725},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4558923542499542},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.44773972034454346},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.361648291349411},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10058042407035828},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.05838671326637268},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.049930721521377563}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6239199042320251},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5645995140075684},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4891410171985626},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48561301827430725},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4558923542499542},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.44773972034454346},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.361648291349411},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10058042407035828},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.05838671326637268},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.049930721521377563},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.3010739","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3010739","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:2003.00628","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.00628","pdf_url":"https://arxiv.org/pdf/2003.00628","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":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2003.00628","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.00628","pdf_url":"https://arxiv.org/pdf/2003.00628","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":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.6399999856948853}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W1571443838","https://openalex.org/W1594524905","https://openalex.org/W1978023077","https://openalex.org/W2016958754","https://openalex.org/W2042882799","https://openalex.org/W2090298673","https://openalex.org/W2104733512","https://openalex.org/W2105360813","https://openalex.org/W2121863487","https://openalex.org/W2130135496","https://openalex.org/W2133932631","https://openalex.org/W2150446927","https://openalex.org/W2155007355","https://openalex.org/W2166211466","https://openalex.org/W2167340365","https://openalex.org/W2173248099","https://openalex.org/W2201912979","https://openalex.org/W2562106483","https://openalex.org/W2575705757","https://openalex.org/W2781726626","https://openalex.org/W2801910602","https://openalex.org/W2890803796","https://openalex.org/W2909718913","https://openalex.org/W2925173345","https://openalex.org/W2950268955","https://openalex.org/W2953082648","https://openalex.org/W2955035422","https://openalex.org/W2958619454","https://openalex.org/W2962736495","https://openalex.org/W2963092423","https://openalex.org/W2963484919","https://openalex.org/W2963630259","https://openalex.org/W2963864421","https://openalex.org/W2964161785","https://openalex.org/W2964333597","https://openalex.org/W2967717386","https://openalex.org/W2967727187","https://openalex.org/W3003629310","https://openalex.org/W3044718039","https://openalex.org/W3130717831","https://openalex.org/W4399469378","https://openalex.org/W6682849425","https://openalex.org/W6684921986","https://openalex.org/W6747473740","https://openalex.org/W6754615820","https://openalex.org/W6764800732","https://openalex.org/W6764969207","https://openalex.org/W6765879051"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W2385118824","https://openalex.org/W2359476137","https://openalex.org/W2362165903","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2575294667","https://openalex.org/W2967743314","https://openalex.org/W2378962668","https://openalex.org/W2606825221"],"abstract_inverted_index":{"Reinforcement":[0],"Learning":[1],"(RL)":[2],"methods":[3,159],"have":[4],"been":[5],"proven":[6],"successful":[7],"in":[8],"solving":[9],"manipulation":[10,149],"tasks":[11,150],"autonomously.":[12],"However,":[13],"RL":[14,82,134,146],"is":[15,106,115],"still":[16],"not":[17],"widely":[18],"adopted":[19],"on":[20,148,163],"real":[21,27,153,167],"robotic":[22,173],"systems":[23],"because":[24],"working":[25],"with":[26,84,102,169],"hardware":[28],"entails":[29],"additional":[30],"challenges,":[31],"especially":[32],"when":[33,126],"using":[34,151],"rigid":[35,154],"position-controlled":[36,103],"manipulators.":[37],"These":[38],"challenges":[39],"include":[40],"the":[41,54,113,129,133],"need":[42],"for":[43,142],"a":[44,63,76,107,139,152,166],"robust":[45],"controller":[46],"to":[47,98],"avoid":[48],"undesired":[49],"behavior,":[50],"that":[51],"risk":[52],"damaging":[53],"robot":[55,155,168],"and":[56,59,112,165],"its":[57],"environment,":[58],"constant":[60],"supervision":[61],"from":[62],"human":[64],"operator.":[65],"The":[66,157],"main":[67],"contributions":[68],"of":[69,132],"this":[70],"work":[71],"are,":[72],"first,":[73],"we":[74,92,120,137],"proposed":[75,158],"learning-based":[77],"force":[78,86,100],"control":[79,90,101,124],"framework":[80],"combining":[81],"techniques":[83],"traditional":[85],"control.":[87,118],"Within":[88],"said":[89],"scheme,":[91],"implemented":[93],"two":[94],"different":[95],"conventional":[96],"approaches":[97],"achieve":[99],"robots;":[104],"one":[105],"modified":[108],"parallel":[109],"position/force":[110],"control,":[111],"other":[114],"an":[116,145,170],"admittance":[117],"Secondly,":[119],"empirically":[121],"study":[122],"both":[123,162],"schemes":[125],"used":[127],"as":[128],"action":[130],"space":[131],"agent.":[135],"Thirdly,":[136],"developed":[138],"fail-safe":[140],"mechanism":[141],"safely":[143],"training":[144],"agent":[147],"manipulator.":[156],"are":[160],"validated":[161],"simulation":[164],"UR3":[171],"e-series":[172],"arm.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":16},{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":23},{"year":2023,"cited_by_count":34},{"year":2022,"cited_by_count":28},{"year":2021,"cited_by_count":24},{"year":2020,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2020-05-29T00:00:00"}