{"id":"https://openalex.org/W4294673055","doi":"https://doi.org/10.1109/rcar54675.2022.9872292","title":"Variable Admittance Control for Robotic Contact Force Tracking in Dynamic Environment Based on Reinforcement Learning","display_name":"Variable Admittance Control for Robotic Contact Force Tracking in Dynamic Environment Based on Reinforcement Learning","publication_year":2022,"publication_date":"2022-07-17","ids":{"openalex":"https://openalex.org/W4294673055","doi":"https://doi.org/10.1109/rcar54675.2022.9872292"},"language":"en","primary_location":{"id":"doi:10.1109/rcar54675.2022.9872292","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar54675.2022.9872292","pdf_url":null,"source":{"id":"https://openalex.org/S4363608312","display_name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-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/A5075588099","display_name":"Yufei Zhou","orcid":"https://orcid.org/0009-0002-7174-4915"},"institutions":[{"id":"https://openalex.org/I4210088164","display_name":"Changchun Institute of Optics, Fine Mechanics and Physics","ror":"https://ror.org/012rct222","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210088164"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yufei Zhou","raw_affiliation_strings":["Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences,Changchun,China,130033","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences,Changchun,China,130033","institution_ids":["https://openalex.org/I4210088164","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103384248","display_name":"Tianyu Liu","orcid":"https://orcid.org/0009-0003-5326-6881"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210088164","display_name":"Changchun Institute of Optics, Fine Mechanics and Physics","ror":"https://ror.org/012rct222","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210088164"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianyu Liu","raw_affiliation_strings":["Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences,Changchun,China,130033","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences,Changchun,China,130033","institution_ids":["https://openalex.org/I4210088164","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035707803","display_name":"Jingkai Cui","orcid":null},"institutions":[{"id":"https://openalex.org/I4210088164","display_name":"Changchun Institute of Optics, Fine Mechanics and Physics","ror":"https://ror.org/012rct222","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210088164"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingkai Cui","raw_affiliation_strings":["Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences,Changchun,China,130033","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences,Changchun,China,130033","institution_ids":["https://openalex.org/I4210088164","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100360595","display_name":"Yanhui Li","orcid":"https://orcid.org/0000-0002-3371-3678"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210088164","display_name":"Changchun Institute of Optics, Fine Mechanics and Physics","ror":"https://ror.org/012rct222","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210088164"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanhui Li","raw_affiliation_strings":["Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences,Changchun,China,130033"],"affiliations":[{"raw_affiliation_string":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences,Changchun,China,130033","institution_ids":["https://openalex.org/I4210088164","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021585252","display_name":"Mingchao Zhu","orcid":"https://orcid.org/0000-0003-3579-7956"},"institutions":[{"id":"https://openalex.org/I4210088164","display_name":"Changchun Institute of Optics, Fine Mechanics and Physics","ror":"https://ror.org/012rct222","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210088164"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingchao Zhu","raw_affiliation_strings":["Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences,Changchun,China,130033"],"affiliations":[{"raw_affiliation_string":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences,Changchun,China,130033","institution_ids":["https://openalex.org/I4210088164","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5075588099"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210088164","https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":0.7078,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.60687563,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"180","last_page":"185"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"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":0.9986000061035156,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9861000180244446,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9779000282287598,"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/admittance","display_name":"Admittance","score":0.8838624358177185},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7929105758666992},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6938079595565796},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5483525395393372},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5379761457443237},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5322118997573853},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48296111822128296},{"id":"https://openalex.org/keywords/admittance-parameters","display_name":"Admittance parameters","score":0.4683240056037903},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.4339950680732727},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.42897355556488037},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.42441967129707336},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42331182956695557},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32791900634765625},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32544034719467163},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2722126841545105},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24535545706748962},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.15671736001968384},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.13085412979125977}],"concepts":[{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.8838624358177185},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7929105758666992},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6938079595565796},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5483525395393372},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5379761457443237},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5322118997573853},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48296111822128296},{"id":"https://openalex.org/C133833761","wikidata":"https://www.wikidata.org/wiki/Q16001847","display_name":"Admittance parameters","level":3,"score":0.4683240056037903},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.4339950680732727},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.42897355556488037},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.42441967129707336},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42331182956695557},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32791900634765625},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32544034719467163},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2722126841545105},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24535545706748962},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.15671736001968384},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.13085412979125977},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar54675.2022.9872292","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar54675.2022.9872292","pdf_url":null,"source":{"id":"https://openalex.org/S4363608312","display_name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/15","score":0.5299999713897705,"display_name":"Life in Land"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"},{"id":"https://openalex.org/F4320337495","display_name":"Technology Development","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1998985813","https://openalex.org/W2087527234","https://openalex.org/W2169440744","https://openalex.org/W2212573275","https://openalex.org/W2517641405","https://openalex.org/W2546451873","https://openalex.org/W2605924076","https://openalex.org/W2789837488","https://openalex.org/W2902216418","https://openalex.org/W2909302178","https://openalex.org/W2911288409","https://openalex.org/W2970085819","https://openalex.org/W3005056735","https://openalex.org/W3036796838","https://openalex.org/W3163630640","https://openalex.org/W6767300959"],"related_works":["https://openalex.org/W2563111511","https://openalex.org/W2913402129","https://openalex.org/W2161728531","https://openalex.org/W2044195815","https://openalex.org/W2541620444","https://openalex.org/W2057151759","https://openalex.org/W2368309484","https://openalex.org/W2066729819","https://openalex.org/W2460740512","https://openalex.org/W2163540231"],"abstract_inverted_index":{"The":[0],"manipulators":[1],"usually":[2],"need":[3],"to":[4],"contact":[5,18,87],"with":[6,108,113],"the":[7,11,14,17,21,25,37,44,61,72,83,103,109,116],"environment":[8,26,45],"when":[9,98],"executing":[10],"tasks.":[12],"Maintaining":[13],"stability":[15,38,84],"of":[16,39,64,85,102],"force":[19,41,88],"between":[20],"manipulator":[22],"end-effector":[23],"and":[24,94],"is":[27,46,57,76],"very":[28],"crucial.":[29],"However,":[30],"constant":[31,114],"admittance":[32,50,65,111,118],"control":[33,51,66,112,119],"method":[34,80],"cannot":[35],"maintain":[36,82],"dynamic":[40,86],"tracking":[42,89],"if":[43],"uncalibrated.":[47],"A":[48],"variable":[49],"algorithm":[52,120],"based":[53],"on":[54,90],"reinforcement":[55,68],"learning":[56,69],"proposed,":[58],"which":[59],"adjusts":[60],"damping":[62],"parameter":[63],"through":[67],"agent.":[70],"Through":[71],"simulation":[73],"experiments,":[74],"it":[75],"found":[77],"that":[78],"this":[79],"can":[81],"a":[91,95],"sloped":[92],"surface":[93,97],"sine":[96],"an":[99],"estimation":[100],"error":[101],"environmental":[104],"position":[105],"exists.":[106],"Compared":[107],"traditional":[110],"coefficients,":[115],"adaptive":[117],"performs":[121],"better.":[122]},"counts_by_year":[{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}