{"id":"https://openalex.org/W4205852817","doi":"https://doi.org/10.1109/lra.2022.3142903","title":"Passivity-Based Adaptive Force-Impedance Control for Modular Multi-Manual Object Manipulation","display_name":"Passivity-Based Adaptive Force-Impedance Control for Modular Multi-Manual Object Manipulation","publication_year":2022,"publication_date":"2022-01-13","ids":{"openalex":"https://openalex.org/W4205852817","doi":"https://doi.org/10.1109/lra.2022.3142903"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3142903","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3142903","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030977955","display_name":"Erfan Shahriari","orcid":"https://orcid.org/0000-0002-2980-135X"},"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":"Erfan Shahriari","raw_affiliation_strings":["Chair of Robotics and Systems Intelligence, Department of Electrical and Computer Engineering, Department of Informatics, Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munchen, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Robotics and Systems Intelligence, Department of Electrical and Computer Engineering, Department of Informatics, Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027460944","display_name":"Seyed Ali Baradaran Birjandi","orcid":"https://orcid.org/0000-0002-7101-0025"},"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":false,"raw_author_name":"Seyed Ali Baradaran Birjandi","raw_affiliation_strings":["Chair of Robotics and Systems Intelligence, Department of Electrical and Computer Engineering, Department of Informatics, Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munchen, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Robotics and Systems Intelligence, Department of Electrical and Computer Engineering, Department of Informatics, Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"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":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Chair of Robotics and Systems Intelligence, Department of Electrical and Computer Engineering, Department of Informatics, Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munchen, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Robotics and Systems Intelligence, Department of Electrical and Computer Engineering, Department of Informatics, Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5030977955"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":3.5156,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.92706308,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"7","issue":"2","first_page":"2194","last_page":"2201"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9991000294685364,"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":0.9962000250816345,"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/impedance-control","display_name":"Impedance control","score":0.7973722219467163},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.7688391208648682},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7450993061065674},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.664304256439209},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6566532850265503},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6475361585617065},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5299794673919678},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5242974162101746},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49779653549194336},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4673998951911926},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4481946527957916},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.4414757192134857},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.41916191577911377},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30298933386802673},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23991897702217102}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.7973722219467163},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.7688391208648682},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7450993061065674},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.664304256439209},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6566532850265503},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6475361585617065},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5299794673919678},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5242974162101746},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49779653549194336},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4673998951911926},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4481946527957916},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4414757192134857},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.41916191577911377},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30298933386802673},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23991897702217102},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2022.3142903","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3142903","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:mediatum.ub.tum.de:node/1687232","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1687232","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":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.5400000214576721,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1523815250","https://openalex.org/W1973073634","https://openalex.org/W1978023077","https://openalex.org/W1996762208","https://openalex.org/W2008418625","https://openalex.org/W2044483173","https://openalex.org/W2057299504","https://openalex.org/W2094929996","https://openalex.org/W2104200789","https://openalex.org/W2106296284","https://openalex.org/W2107143629","https://openalex.org/W2109079930","https://openalex.org/W2119293519","https://openalex.org/W2122739526","https://openalex.org/W2126967241","https://openalex.org/W2130351752","https://openalex.org/W2136342353","https://openalex.org/W2142769321","https://openalex.org/W2147168033","https://openalex.org/W2150138180","https://openalex.org/W2154758965","https://openalex.org/W2155062174","https://openalex.org/W2162930614","https://openalex.org/W2168530549","https://openalex.org/W2295847848","https://openalex.org/W2542262075","https://openalex.org/W2625731136","https://openalex.org/W2752997159","https://openalex.org/W2762248135","https://openalex.org/W2762973286","https://openalex.org/W2777510795","https://openalex.org/W2782580911","https://openalex.org/W2805031923","https://openalex.org/W2885923137","https://openalex.org/W2896379690","https://openalex.org/W2913137369","https://openalex.org/W2933443448","https://openalex.org/W3048356206","https://openalex.org/W3080591218","https://openalex.org/W3098375952","https://openalex.org/W3105142959"],"related_works":["https://openalex.org/W4239268637","https://openalex.org/W1977819874","https://openalex.org/W2952841825","https://openalex.org/W2051296765","https://openalex.org/W2960878236","https://openalex.org/W153449849","https://openalex.org/W2792365087","https://openalex.org/W3131110707","https://openalex.org/W2716370379","https://openalex.org/W3142828847"],"abstract_inverted_index":{"There":[0],"exist":[1],"robotic":[2],"tasks":[3],"such":[4,26,77],"as":[5,78],"cumbersome":[6],"object":[7,52,122],"manipulation":[8,53],"for":[9,49],"which":[10,69],"one":[11],"arm":[12],"alone":[13],"is":[14,67,98,105,123],"not":[15],"sufficient":[16],"and":[17,60,82,100],"a":[18,27,30,44,50,63,101,112,117],"team":[19],"of":[20,58,74,91,114,130],"robots":[21],"should":[22],"be":[23,34],"employed.":[24],"For":[25],"multi-manual":[28,51,109],"system,":[29],"control":[31,47,85,94,133],"policy":[32,66],"must":[33],"defined":[35],"to":[36,107,126],"meet":[37],"the":[38,56,71,79,89,92,108,128,131],"task":[39],"objective.":[40],"This":[41],"letter":[42],"presents":[43],"modular":[45],"uni-arm":[46],"law":[48],"task.":[54],"Following":[55],"concept":[57],"force":[59],"impedance":[61,81],"control,":[62],"novel":[64],"adaptation":[65],"introduced":[68],"mitigates":[70],"intrinsic":[72],"limitations":[73],"conventional":[75],"methods":[76],"coupled":[80],"hybrid":[83],"position/force":[84],"approaches.":[86],"To":[87],"ensure":[88],"stability":[90],"proposed":[93,132],"algorithm,":[95],"passivity":[96],"analysis":[97],"performed":[99],"virtual":[102],"energy":[103],"tank":[104],"augmented":[106],"system.":[110],"Finally,":[111],"set":[113],"experiments":[115],"with":[116],"bi-manual":[118],"setup":[119],"manipulating":[120],"an":[121],"carried":[124],"out":[125],"evaluate":[127],"performance":[129],"approach.":[134]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}