{"id":"https://openalex.org/W4320027878","doi":"https://doi.org/10.1109/robio55434.2022.10011679","title":"A Variable Admittance Control Strategy for Self-Collision Avoidance Based on Virtual constraints","display_name":"A Variable Admittance Control Strategy for Self-Collision Avoidance Based on Virtual constraints","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4320027878","doi":"https://doi.org/10.1109/robio55434.2022.10011679"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011679","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011679","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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 Robotics and Biomimetics (ROBIO)","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/A5100455064","display_name":"Zeyu Li","orcid":"https://orcid.org/0000-0002-2961-5565"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zeyu Li","raw_affiliation_strings":["Doctoral Candidate at School of Mechanical Engineering & Automation Beihang University,China"],"affiliations":[{"raw_affiliation_string":"Doctoral Candidate at School of Mechanical Engineering & Automation Beihang University,China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051928928","display_name":"Hongxing Wei","orcid":"https://orcid.org/0000-0003-4785-5164"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongxing Wei","raw_affiliation_strings":["professor at the School of Mechanical Engineering & Automation Beihang University"],"affiliations":[{"raw_affiliation_string":"professor at the School of Mechanical Engineering & Automation Beihang University","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100412395","display_name":"Gang Liu","orcid":"https://orcid.org/0000-0001-7636-7712"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Liu","raw_affiliation_strings":["Master degree from School of Mechanical Engineering & Automation Beihang University, China in 2016"],"affiliations":[{"raw_affiliation_string":"Master degree from School of Mechanical Engineering & Automation Beihang University, China in 2016","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101893762","display_name":"Chengguo Liu","orcid":"https://orcid.org/0000-0003-4023-5376"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengguo Liu","raw_affiliation_strings":["College of Mechanical Engineering, Chongqing University,Chongqing,China","College of Mechanical Engineering, Chongqing University, Chongqing, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering, Chongqing University,Chongqing,China","institution_ids":["https://openalex.org/I158842170"]},{"raw_affiliation_string":"College of Mechanical Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045059773","display_name":"Diansheng Chen","orcid":"https://orcid.org/0000-0003-4599-876X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Diansheng Chen","raw_affiliation_strings":["professor at the School of Mechanical Engineering & Automation Beihang University"],"affiliations":[{"raw_affiliation_string":"professor at the School of Mechanical Engineering & Automation Beihang University","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100455064"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":1.0697,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.77910994,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"958","last_page":"963"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.998199999332428,"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":0.998199999332428,"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":0.9973999857902527,"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":0.989300012588501,"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":0.8620322942733765},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7527740001678467},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7043001651763916},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6669305562973022},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5806746482849121},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5798191428184509},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5462413430213928},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.5005471706390381},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4559018313884735},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44908401370048523},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42606785893440247},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4222966432571411},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41478610038757324},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29457515478134155},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20417094230651855},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07365164160728455}],"concepts":[{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.8620322942733765},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7527740001678467},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7043001651763916},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6669305562973022},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5806746482849121},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5798191428184509},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5462413430213928},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.5005471706390381},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4559018313884735},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44908401370048523},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42606785893440247},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4222966432571411},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41478610038757324},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29457515478134155},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20417094230651855},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07365164160728455},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10011679","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011679","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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 Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2004139909","https://openalex.org/W2115906629","https://openalex.org/W2116113712","https://openalex.org/W2166365633","https://openalex.org/W2515496092","https://openalex.org/W2564917287","https://openalex.org/W2601030147","https://openalex.org/W2761490723","https://openalex.org/W2792539092","https://openalex.org/W3003804651","https://openalex.org/W3011734990","https://openalex.org/W3036967843","https://openalex.org/W3099715976","https://openalex.org/W3126706461"],"related_works":["https://openalex.org/W2200472972","https://openalex.org/W2031643172","https://openalex.org/W2047335472","https://openalex.org/W2367857055","https://openalex.org/W3180133250","https://openalex.org/W2024162929","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311"],"abstract_inverted_index":{"Collaborative":[0],"robots":[1],"are":[2,109,122],"becoming":[3],"assistants":[4],"who":[5],"support":[6],"humans":[7],"in":[8,12,152],"completing":[9],"various":[10],"tasks":[11],"production":[13],"and":[14,28,30,53,76,98,105,159],"life.":[15],"During":[16],"human-robot":[17],"collaborations,":[18],"the":[19,45,54,67,73,77,84,112,128,135,144,154,157,161,164],"robotic":[20,46,81],"self-collision":[21,47,97],"will":[22],"cause":[23],"damage":[24],"to":[25,65,89,124],"both":[26],"operator":[27],"robot,":[29],"thus":[31],"should":[32],"be":[33],"avoided.":[34],"In":[35],"this":[36],"research,":[37],"a":[38,91],"control":[39,137],"framework":[40,138],"is":[41,63,87,132],"proposed":[42,129],"for":[43,95],"solving":[44],"problem":[48],"based":[49],"on":[50,111],"virtual":[51,68,103],"constraints":[52],"adaptive":[55],"admittance":[56,93],"control.":[57],"At":[58],"first,":[59],"an":[60],"online":[61,85],"algorithm":[62,86],"established":[64],"generate":[66],"repulsive":[69],"forces":[70,104],"by":[71,101],"considering":[72],"operator's":[74],"intention":[75],"distance":[78],"between":[79],"two":[80],"links.":[82],"Then,":[83],"used":[88],"build":[90],"novel":[92],"controller":[94],"avoiding":[96],"achieving":[99],"stability":[100,155],"using":[102],"adjusting":[106],"damping.":[107],"Experiments":[108],"conducted":[110],"AUBO":[113],"i5F":[114],"serial":[115],"collaborative":[116],"robot.":[117],"Two":[118],"other":[119],"existing":[120],"algorithms":[121],"employed":[123],"make":[125],"comparison":[126],"with":[127],"one.":[130],"It":[131],"revealed":[133],"that":[134],"present":[136],"can":[139],"not":[140],"only":[141],"effectively":[142],"avoid":[143],"self-collision,":[145],"but":[146],"also":[147],"have":[148],"better":[149],"comprehensive":[150],"performance":[151],"enhancing":[153],"of":[156,163],"system":[158],"improving":[160],"comfortability":[162],"collaboration.":[165]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}