{"id":"https://openalex.org/W4388270223","doi":"https://doi.org/10.1109/lra.2023.3327675","title":"Composite Learning Variable Impedance Robot Control With Stability and Passivity Guarantees","display_name":"Composite Learning Variable Impedance Robot Control With Stability and Passivity Guarantees","publication_year":2023,"publication_date":"2023-10-25","ids":{"openalex":"https://openalex.org/W4388270223","doi":"https://doi.org/10.1109/lra.2023.3327675"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3327675","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3327675","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/A5015092734","display_name":"Yongping Pan","orcid":"https://orcid.org/0000-0002-8587-6065"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongping Pan","raw_affiliation_strings":["School of Advanced Manufacturing, Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-8587-6065","affiliations":[{"raw_affiliation_string":"School of Advanced Manufacturing, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083398034","display_name":"Zhiwen Li","orcid":"https://orcid.org/0000-0002-1451-1325"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiwen Li","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-1451-1325","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010522253","display_name":"Tian Shi","orcid":"https://orcid.org/0009-0003-0001-9617"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tian Shi","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0009-0003-0001-9617","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100344158","display_name":"Changyun Wen","orcid":"https://orcid.org/0000-0001-9530-360X"},"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":"Changyun Wen","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-9530-360X","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.6515,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.90277758,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"9","issue":"1","first_page":"119","last_page":"126"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9980000257492065,"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"}},"topics":[{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9980000257492065,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9958999752998352,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9943000078201294,"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/control-theory","display_name":"Control theory (sociology)","score":0.7952922582626343},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.6484352350234985},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.610094428062439},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6089763045310974},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6089679002761841},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5487160086631775},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5366183519363403},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.5125529766082764},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.46698516607284546},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3993799090385437},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3963775634765625},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21962031722068787},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21348494291305542},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17864346504211426},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10822245478630066}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7952922582626343},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.6484352350234985},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.610094428062439},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6089763045310974},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6089679002761841},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5487160086631775},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5366183519363403},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.5125529766082764},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.46698516607284546},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3993799090385437},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3963775634765625},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21962031722068787},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21348494291305542},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17864346504211426},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10822245478630066},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3327675","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3327675","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1509235676","https://openalex.org/W2001407475","https://openalex.org/W2009192474","https://openalex.org/W2033167899","https://openalex.org/W2035762376","https://openalex.org/W2057538835","https://openalex.org/W2143920784","https://openalex.org/W2150322040","https://openalex.org/W2296039882","https://openalex.org/W2346348157","https://openalex.org/W2413918388","https://openalex.org/W2438255111","https://openalex.org/W2517641405","https://openalex.org/W2566495809","https://openalex.org/W2772887399","https://openalex.org/W2789185723","https://openalex.org/W2789997910","https://openalex.org/W2953943807","https://openalex.org/W2993247505","https://openalex.org/W2997161337","https://openalex.org/W3012211643","https://openalex.org/W3025258671","https://openalex.org/W3026765122","https://openalex.org/W3044544583","https://openalex.org/W3115157241","https://openalex.org/W3124040578","https://openalex.org/W3125674422","https://openalex.org/W3131110707","https://openalex.org/W3205906715","https://openalex.org/W4205852817","https://openalex.org/W4210496134","https://openalex.org/W4220739299","https://openalex.org/W4291006859","https://openalex.org/W4312707215","https://openalex.org/W4385147650"],"related_works":["https://openalex.org/W4233304828","https://openalex.org/W3131110707","https://openalex.org/W2716370379","https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W4295916778","https://openalex.org/W2112995122","https://openalex.org/W2165087119"],"abstract_inverted_index":{"Variable":[0],"impedance":[1,21,58,91],"control":[2,47,65],"(VIC)":[3],"is":[4,25,67,82,100,109],"paramount":[5],"for":[6,84,113],"robots":[7],"to":[8,55,73],"improve":[9],"safety":[10],"and":[11,52,129,135],"effectiveness":[12,162],"in":[13,32,117],"physical":[14],"human-robot":[15],"interaction.":[16,144],"However,":[17],"achieving":[18],"variable":[19,126],"target":[20,57,90],"with":[22,45,131,150],"guaranteed":[23,132],"stability":[24,134],"not":[26],"trivial,":[27],"particularly":[28],"under":[29,59,96],"parametric":[30,60],"uncertainty":[31],"the":[33,107,138,161,164],"robot":[34,149],"dynamics.":[35],"This":[36],"letter":[37],"proposes":[38],"a":[39,110,147],"composite":[40,79],"learning-based":[41],"VIC":[42],"(CL-VIC)":[43],"strategy":[44],"three":[46],"modes,":[48,54],"including":[49],"robot-dominant,":[50],"human-dominant,":[51],"collaboration":[53],"achieve":[56,125],"uncertainty.":[61],"A":[62,78],"multi-mode":[63],"adaptive":[64],"scheme":[66],"defined":[68],"by":[69],"well-designed":[70],"weighting":[71],"functions":[72],"ensure":[74],"smooth":[75],"mode":[76],"transitions.":[77],"learning":[80],"mechanism":[81],"employed":[83],"exact":[85,114],"parameter":[86,115],"estimation":[87,116],"such":[88],"that":[89,99],"models":[92],"can":[93,124],"be":[94],"achieved":[95],"interval":[97],"excitation":[98],"much":[101],"weaker":[102],"than":[103],"persistent":[104],"excitation,":[105],"where":[106],"latter":[108],"sufficient":[111],"condition":[112],"classical":[118],"system":[119],"identification.":[120],"The":[121],"proposed":[122,165],"method":[123],"active":[127],"stiffness":[128],"damping":[130],"exponential":[133],"passivity":[136],"of":[137,153,163],"closed-loop":[139],"system,":[140],"which":[141],"ensures":[142],"safe":[143],"Experiments":[145],"on":[146],"collaborative":[148],"seven":[151],"degrees":[152],"freedom":[154],"named":[155],"Franka":[156],"Emika":[157],"Panda":[158],"have":[159],"validated":[160],"CL-VIC":[166],"method.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":10}],"updated_date":"2026-06-17T08:01:34.144755","created_date":"2025-10-10T00:00:00"}