{"id":"https://openalex.org/W4255204060","doi":"https://doi.org/10.1109/robot.1987.1087919","title":"Hybrid impedance control of robotic manipulators","display_name":"Hybrid impedance control of robotic manipulators","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W4255204060","doi":"https://doi.org/10.1109/robot.1987.1087919"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1987.1087919","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087919","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5065753515","display_name":"Robert J. Anderson","orcid":"https://orcid.org/0000-0002-3021-9797"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Anderson","raw_affiliation_strings":["Coordinated Science Laboratory, University of Illinois, Urbana, IL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory, University of Illinois, Urbana, IL","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013958888","display_name":"M. Spong","orcid":null},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Spong","raw_affiliation_strings":["Coordinated Science Laboratory, University of Illinois, Urbana, IL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory, University of Illinois, Urbana, IL","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157725225"],"apc_list":null,"apc_paid":null,"fwci":4.9526,"has_fulltext":false,"cited_by_count":73,"citation_normalized_percentile":{"value":0.9637313,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"4","issue":null,"first_page":"1073","last_page":"1080"},"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":0.9976000189781189,"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":0.9962999820709229,"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":0.8595938682556152},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6561041474342346},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.6407954692840576},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.6188971996307373},{"id":"https://openalex.org/keywords/duality","display_name":"Duality (order theory)","score":0.5732727646827698},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5467617511749268},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5336537957191467},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5295986533164978},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5061454176902771},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.48616620898246765},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.48023754358291626},{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"Mechanical impedance","score":0.4515116810798645},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4395671486854553},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4156493842601776},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3022780418395996},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2039734125137329},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18876025080680847},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09051254391670227},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08031165599822998}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.8595938682556152},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6561041474342346},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.6407954692840576},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.6188971996307373},{"id":"https://openalex.org/C2778023678","wikidata":"https://www.wikidata.org/wiki/Q554403","display_name":"Duality (order theory)","level":2,"score":0.5732727646827698},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5467617511749268},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5336537957191467},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5295986533164978},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5061454176902771},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.48616620898246765},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.48023754358291626},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.4515116810798645},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4395671486854553},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4156493842601776},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3022780418395996},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2039734125137329},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18876025080680847},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09051254391670227},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08031165599822998},{"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1987.1087919","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087919","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W593853182","https://openalex.org/W1569867348","https://openalex.org/W1890391685","https://openalex.org/W1967377907","https://openalex.org/W2006813793","https://openalex.org/W2012897865","https://openalex.org/W2016958754","https://openalex.org/W2105660272","https://openalex.org/W2132294818","https://openalex.org/W2141170102","https://openalex.org/W2154786710","https://openalex.org/W2726964406","https://openalex.org/W6740447285"],"related_works":["https://openalex.org/W2786196354","https://openalex.org/W2391397427","https://openalex.org/W1996341361","https://openalex.org/W2071387541","https://openalex.org/W4392894440","https://openalex.org/W4366609476","https://openalex.org/W2078127841","https://openalex.org/W4255204060","https://openalex.org/W1983135609","https://openalex.org/W4229014760"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"a":[3,12,50],"new":[4],"algorithm":[5],"for":[6,49],"controlling":[7],"the":[8,45,60],"contact":[9],"forces":[10],"of":[11],"robotic":[13],"manipulator.":[14],"The":[15],"algorithm,":[16,61],"to":[17,58,67],"be":[18],"called":[19],"hybrid":[20,30],"impedance":[21,34],"control":[22,28],"(HIC),":[23],"combines":[24],"two":[25],"fundamental":[26],"force":[27],"strategies;":[29],"position/force":[31],"control,":[32],"and":[33,62],"control.":[35],"A":[36,53],"duality":[37],"condition":[38],"is":[39,56],"defined":[40],"which":[41],"specifically":[42],"determines":[43],"how":[44],"manipulator":[46],"should":[47],"respond":[48],"given":[51],"environment.":[52],"system-theoretic":[54],"approach":[55],"utilized":[57],"motivate":[59],"specific":[63],"examples":[64],"are":[65],"developed":[66],"illustrate":[68],"it.":[69]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}