{"id":"https://openalex.org/W2166277106","doi":"https://doi.org/10.1109/robot.1985.1087271","title":"A method for the design of hybrid position/Force controllers for manipulators constrained by contact with the environment","display_name":"A method for the design of hybrid position/Force controllers for manipulators constrained by contact with the environment","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W2166277106","doi":"https://doi.org/10.1109/robot.1985.1087271","mag":"2166277106"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1985.1087271","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1985.1087271","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1985 IEEE International Conference on Robotics and Automation","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/A5056189472","display_name":"Harry West","orcid":"https://orcid.org/0000-0002-2704-5474"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. West","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052171167","display_name":"H. Harry Asada","orcid":"https://orcid.org/0000-0003-3155-6223"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Asada","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":3.8815,"has_fulltext":false,"cited_by_count":72,"citation_normalized_percentile":{"value":0.93475521,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"2","issue":null,"first_page":"251","last_page":"259"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9969000220298767,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9948999881744385,"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":0.7709422707557678},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6952178478240967},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.69379723072052},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6781721115112305},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6777267456054688},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5866883993148804},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5094528794288635},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4839404225349426},{"id":"https://openalex.org/keywords/first-class-constraint","display_name":"First class constraint","score":0.479621022939682},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4687381386756897},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44437122344970703},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4122597873210907},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.398158460855484},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3526987135410309},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22692131996154785},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1790337860584259},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17624834179878235},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12014102935791016},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11145076155662537}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7709422707557678},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6952178478240967},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.69379723072052},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6781721115112305},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6777267456054688},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5866883993148804},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5094528794288635},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4839404225349426},{"id":"https://openalex.org/C104367098","wikidata":"https://www.wikidata.org/wiki/Q5454146","display_name":"First class constraint","level":5,"score":0.479621022939682},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4687381386756897},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44437122344970703},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4122597873210907},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.398158460855484},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3526987135410309},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22692131996154785},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1790337860584259},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17624834179878235},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12014102935791016},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11145076155662537},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"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/C130190758","wikidata":"https://www.wikidata.org/wiki/Q1064500","display_name":"Symplectic manifold","level":3,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C104586451","wikidata":"https://www.wikidata.org/wiki/Q771008","display_name":"Symplectic representation","level":4,"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/C168619227","wikidata":"https://www.wikidata.org/wiki/Q2190991","display_name":"Symplectic geometry","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1985.1087271","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1985.1087271","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1985 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8199999928474426,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1981141114","https://openalex.org/W2016958754","https://openalex.org/W2055576996","https://openalex.org/W2105660272","https://openalex.org/W2128357071","https://openalex.org/W6679133279"],"related_works":["https://openalex.org/W2807251790","https://openalex.org/W2799406489","https://openalex.org/W2570672926","https://openalex.org/W4378191988","https://openalex.org/W3210882399","https://openalex.org/W1976172674","https://openalex.org/W1984186897","https://openalex.org/W2057014666","https://openalex.org/W2058655888","https://openalex.org/W2166277106"],"abstract_inverted_index":{"A":[0,115],"new":[1],"method":[2,16,180],"for":[3,10,173],"the":[4,29,37,54,70,87,90,93,123,128,135,138,139,143,152,155,158,162,165,168,174,177],"design":[5],"of":[6,23,56,76,92,104,111,130,137,176,188],"hybrid":[7,116],"position/force":[8,117],"controllers":[9],"constrained":[11],"manipulators":[12],"is":[13,95,99,119,181],"derived.":[14,96],"This":[15],"can":[17],"be":[18],"applied":[19],"to":[20,26,34,42,53,121,142,149],"all":[21],"types":[22],"constraint":[24,32,40,51,88],"due":[25,33,41,52,148],"contact":[27,35,68,150,166],"with":[28,69,151,167],"environmcnt;":[30],"including":[31],"at":[36,127,157,164],"end":[38,159],"effector,":[39,160],"more":[43],"than":[44],"one":[45],"robot":[46,58,140],"manipulating":[47],"a":[48,57,61,83,102,109,131,184],"workpiece,":[49],"and":[50,66,108,125,154,161],"bracing":[55],"arm":[59,94],"against":[60],"work":[62],"surface.":[63],"The":[64,97,179],"manipulator":[65,132],"its":[67],"environment":[71,169],"are":[72,170],"modeled":[73,100],"in":[74],"terms":[75],"lower":[77],"order":[78],"pairs.":[79],"From":[80],"this":[81],"model":[82],"general":[84],"equation":[85],"describing":[86],"on":[89,146],"motion":[91,136,156],"task":[98],"as":[101],"set":[103,110],"essential":[105,112],"position":[106,124],"vectors":[107],"force":[113,126,163],"vectors.":[114],"controller":[118],"derived":[120],"control":[122],"joints":[129],"such":[133],"that":[134],"conforms":[141],"constraints":[144],"imposed":[145],"it":[147],"environment;":[153],"those":[171],"required":[172],"performance":[175],"task.":[178],"illustrated":[182],"by":[183],"simple":[185],"three":[186],"degree":[187],"freedom":[189],"example.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}