{"id":"https://openalex.org/W3137783376","doi":"https://doi.org/10.1109/lra.2021.3066974","title":"Bilateral Teleoperation With Adaptive Impedance Control for Contact Tasks","display_name":"Bilateral Teleoperation With Adaptive Impedance Control for Contact Tasks","publication_year":2021,"publication_date":"2021-03-17","ids":{"openalex":"https://openalex.org/W3137783376","doi":"https://doi.org/10.1109/lra.2021.3066974","mag":"3137783376"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3066974","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3066974","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://inria.hal.science/hal-03161641","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028198901","display_name":"Youssef Michel","orcid":"https://orcid.org/0000-0003-1549-0471"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Youssef Michel","raw_affiliation_strings":["Human-centered Assistive Robotics, Technical University of Munich, Munich, Germany","Technische Universit\u00e4t Munchen - Technical University Munich - Universit\u00e9 Technique de Munich"],"raw_orcid":"https://orcid.org/0000-0003-1549-0471","affiliations":[{"raw_affiliation_string":"Human-centered Assistive Robotics, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Technische Universit\u00e4t Munchen - Technical University Munich - Universit\u00e9 Technique de Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081086767","display_name":"Rahaf Rahal","orcid":"https://orcid.org/0000-0002-4959-1505"},"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/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Rahaf Rahal","raw_affiliation_strings":["Inria, CNRS, IRISA, Univ Rennes, Rennes, France","Sensor-based and interactive robotics"],"raw_orcid":"https://orcid.org/0000-0002-4959-1505","affiliations":[{"raw_affiliation_string":"Inria, CNRS, IRISA, Univ Rennes, Rennes, France","institution_ids":["https://openalex.org/I2802519937","https://openalex.org/I56067802","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Sensor-based and interactive robotics","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058355041","display_name":"Claudio Pacchierotti","orcid":"https://orcid.org/0000-0002-8006-9168"},"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/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Claudio Pacchierotti","raw_affiliation_strings":["CNRS, Univ Rennes, Rennes, France","Sensor-based and interactive robotics"],"raw_orcid":"https://orcid.org/0000-0002-8006-9168","affiliations":[{"raw_affiliation_string":"CNRS, Univ Rennes, Rennes, France","institution_ids":["https://openalex.org/I56067802","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Sensor-based and interactive robotics","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067595490","display_name":"Paolo Robuffo Giordano","orcid":"https://orcid.org/0000-0001-6919-7751"},"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/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Paolo Robuffo Giordano","raw_affiliation_strings":["CNRS, Univ Rennes, Rennes, France","Sensor-based and interactive robotics"],"raw_orcid":"https://orcid.org/0000-0001-6919-7751","affiliations":[{"raw_affiliation_string":"CNRS, Univ Rennes, Rennes, France","institution_ids":["https://openalex.org/I56067802","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Sensor-based and interactive robotics","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088081800","display_name":"Dongheui Lee","orcid":"https://orcid.org/0000-0003-1897-7664"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dongheui Lee","raw_affiliation_strings":["Human-centered Assistive Robotics, Technical University of Munich and the Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Munich, Germany","Technische Universit\u00e4t Munchen - Technical University Munich - Universit\u00e9 Technique de Munich"],"raw_orcid":"https://orcid.org/0000-0003-1897-7664","affiliations":[{"raw_affiliation_string":"Human-centered Assistive Robotics, Technical University of Munich and the Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Munich, Germany","institution_ids":["https://openalex.org/I2898391981","https://openalex.org/I62916508"]},{"raw_affiliation_string":"Technische Universit\u00e4t Munchen - Technical University Munich - Universit\u00e9 Technique de Munich","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5028198901"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":6.536,"has_fulltext":false,"cited_by_count":84,"citation_normalized_percentile":{"value":0.97812434,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"6","issue":"3","first_page":"5429","last_page":"5436"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9987999796867371,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9987999796867371,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.996999979019165,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9868999719619751,"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/teleoperation","display_name":"Teleoperation","score":0.95789635181427},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.778354287147522},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.728880763053894},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.5977241396903992},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5171800851821899},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5157113671302795},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.492021769285202},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4885159730911255},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48576977849006653},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4853214621543884},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.43626245856285095},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40052953362464905},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3864717185497284},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3327678442001343},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21387043595314026},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.06550973653793335}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.95789635181427},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.778354287147522},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.728880763053894},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.5977241396903992},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5171800851821899},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5157113671302795},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.492021769285202},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4885159730911255},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48576977849006653},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4853214621543884},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.43626245856285095},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40052953362464905},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3864717185497284},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3327678442001343},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21387043595314026},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.06550973653793335},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2021.3066974","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3066974","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:HAL:hal-03161641v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-03161641","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2021, 6 (3), pp.5429-5436. &#x27E8;10.1109/LRA.2021.3066974&#x27E9;","raw_type":"Journal articles"},{"id":"pmh:oai:elib.dlr.de:147172","is_oa":false,"landing_page_url":"https://elib.dlr.de/147172/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Zeitschriftenbeitrag"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1710600","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1710600","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"contributionToPeriodical"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-03161641v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-03161641","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2021, 6 (3), pp.5429-5436. &#x27E8;10.1109/LRA.2021.3066974&#x27E9;","raw_type":"Journal articles"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.7300000190734863}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320325698","display_name":"Helmholtz Association","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1004141173","https://openalex.org/W1969976050","https://openalex.org/W1975864864","https://openalex.org/W2002078422","https://openalex.org/W2025252351","https://openalex.org/W2057538835","https://openalex.org/W2064173399","https://openalex.org/W2100856460","https://openalex.org/W2116822311","https://openalex.org/W2146892985","https://openalex.org/W2154358910","https://openalex.org/W2169187067","https://openalex.org/W2191886813","https://openalex.org/W2295809278","https://openalex.org/W2300435054","https://openalex.org/W2331138946","https://openalex.org/W2404575650","https://openalex.org/W2564855576","https://openalex.org/W2577219019","https://openalex.org/W2605902560","https://openalex.org/W2610829415","https://openalex.org/W2754133402","https://openalex.org/W2795550549","https://openalex.org/W2885414200","https://openalex.org/W2914607567","https://openalex.org/W2942065221","https://openalex.org/W2965368253","https://openalex.org/W3113128756","https://openalex.org/W6732537701","https://openalex.org/W6787552049"],"related_works":["https://openalex.org/W2090171584","https://openalex.org/W2141321389","https://openalex.org/W2063905323","https://openalex.org/W2099914424","https://openalex.org/W2914607567","https://openalex.org/W3207600904","https://openalex.org/W2126456812","https://openalex.org/W4390338938","https://openalex.org/W2017331141","https://openalex.org/W1969993920"],"abstract_inverted_index":{"This":[0],"letter":[1],"presents":[2],"an":[3],"adaptive":[4],"impedance":[5],"control":[6,33],"architecture":[7],"for":[8,86],"robotic":[9,73],"teleoperation":[10],"of":[11,70,89,99,105,140],"contact":[12],"tasks":[13],"featuring":[14],"continuous":[15],"interaction":[16,52],"with":[17,53],"the":[18,36,44,54,58,66,87,90,103,116,129],"environment.":[19],"We":[20,93],"use":[21],"Learning":[22],"from":[23],"Demonstration":[24],"(LfD)":[25],"as":[26,48],"a":[27,71,96,112,121],"framework":[28],"to":[29,42,49,110],"learn":[30],"variable":[31],"stiffness":[32,39],"policies.":[34],"Then,":[35],"learnt":[37],"state-varying":[38],"is":[40,108,118],"used":[41,109],"command":[43],"remote":[45],"manipulator,":[46],"so":[47],"adapt":[50],"its":[51],"environment":[55],"based":[56],"on":[57,65],"sensed":[59],"forces.":[60],"Our":[61],"system":[62,117],"only":[63],"relies":[64],"on-board":[67],"torque":[68],"sensors":[69],"commercial":[72],"manipulator":[74],"and":[75,142],"it":[76],"does":[77],"not":[78],"require":[79],"any":[80],"additional":[81],"hardware":[82],"or":[83],"user":[84],"input":[85],"estimation":[88],"required":[91],"stiffness.":[92],"also":[94],"provide":[95],"passivity":[97],"analysis":[98],"our":[100],"system,":[101],"where":[102],"concept":[104],"energy":[106],"tanks":[107],"guarantee":[111],"stable":[113],"behavior.":[114],"Finally,":[115],"evaluated":[119],"in":[120,138],"representative":[122],"teleoperated":[123],"cutting":[124],"application.":[125],"Results":[126],"show":[127],"that":[128],"proposed":[130],"variable-stiffness":[131],"approach":[132],"outperforms":[133],"two":[134],"standard":[135],"constant-stiffness":[136],"approaches":[137],"terms":[139],"safety":[141],"robot":[143],"tracking":[144],"performance.":[145]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":25},{"year":2024,"cited_by_count":24},{"year":2023,"cited_by_count":20},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":2}],"updated_date":"2026-05-07T13:39:58.223016","created_date":"2021-03-29T00:00:00"}
