{"id":"https://openalex.org/W1504128370","doi":"https://doi.org/10.1109/robot.2003.1242064","title":"Admittance selection for planar force-guided assembly for single-point contact with friction","display_name":"Admittance selection for planar force-guided assembly for single-point contact with friction","publication_year":2004,"publication_date":"2004-03-30","ids":{"openalex":"https://openalex.org/W1504128370","doi":"https://doi.org/10.1109/robot.2003.1242064","mag":"1504128370"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1242064","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1242064","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","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/A5029960857","display_name":"Shuguang Huang","orcid":"https://orcid.org/0000-0002-6130-4433"},"institutions":[{"id":"https://openalex.org/I102461120","display_name":"Marquette University","ror":"https://ror.org/04gr4te78","country_code":"US","type":"education","lineage":["https://openalex.org/I102461120"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Shuguang Huang","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Marquette University, Milwaukee, WI, USA","[Dept. of Mech. & Ind. Eng., Marquette Univ., Milwaukee, WI, USA]"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Marquette University, Milwaukee, WI, USA","institution_ids":["https://openalex.org/I102461120"]},{"raw_affiliation_string":"[Dept. of Mech. & Ind. Eng., Marquette Univ., Milwaukee, WI, USA]","institution_ids":["https://openalex.org/I102461120"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086125841","display_name":"Joseph M. Schimmels","orcid":"https://orcid.org/0009-0008-4286-6554"},"institutions":[{"id":"https://openalex.org/I102461120","display_name":"Marquette University","ror":"https://ror.org/04gr4te78","country_code":"US","type":"education","lineage":["https://openalex.org/I102461120"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J.M. Schimmels","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Marquette University, Milwaukee, WI, USA","[Dept. of Mech. & Ind. Eng., Marquette Univ., Milwaukee, WI, USA]"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Marquette University, Milwaukee, WI, USA","institution_ids":["https://openalex.org/I102461120"]},{"raw_affiliation_string":"[Dept. of Mech. & Ind. Eng., Marquette Univ., Milwaukee, WI, USA]","institution_ids":["https://openalex.org/I102461120"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5029960857"],"corresponding_institution_ids":["https://openalex.org/I102461120"],"apc_list":null,"apc_paid":null,"fwci":3.5069,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.91244696,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"3082","last_page":"3088"},"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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":0.9664750099182129},{"id":"https://openalex.org/keywords/admittance-parameters","display_name":"Admittance parameters","score":0.822010338306427},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.7664880752563477},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.6152887344360352},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.60546875},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5159193277359009},{"id":"https://openalex.org/keywords/contact-area","display_name":"Contact area","score":0.4267631769180298},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.413550466299057},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.41011589765548706},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.31560415029525757},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.2898455262184143},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.2875526547431946},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.25997623801231384},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25500670075416565},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23802313208580017},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.1914132535457611},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1843511462211609},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.15585678815841675},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1556871235370636},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.12958770990371704},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07510194182395935}],"concepts":[{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.9664750099182129},{"id":"https://openalex.org/C133833761","wikidata":"https://www.wikidata.org/wiki/Q16001847","display_name":"Admittance parameters","level":3,"score":0.822010338306427},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.7664880752563477},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.6152887344360352},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.60546875},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5159193277359009},{"id":"https://openalex.org/C33373654","wikidata":"https://www.wikidata.org/wiki/Q5164821","display_name":"Contact area","level":2,"score":0.4267631769180298},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.413550466299057},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.41011589765548706},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.31560415029525757},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.2898455262184143},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2875526547431946},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.25997623801231384},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25500670075416565},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23802313208580017},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.1914132535457611},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1843511462211609},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.15585678815841675},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1556871235370636},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.12958770990371704},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07510194182395935},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2003.1242064","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1242064","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-article"},{"id":"pmh:oai:epublications.marquette.edu:mechengin_fac-1114","is_oa":false,"landing_page_url":"https://epublications.marquette.edu/mechengin_fac/111","pdf_url":null,"source":{"id":"https://openalex.org/S4377196305","display_name":"e-publications - Marquette  (Marquette University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I102461120","host_organization_name":"Marquette University","host_organization_lineage":["https://openalex.org/I102461120"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Mechanical Engineering Faculty Research and Publications","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.550000011920929}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2008476021","https://openalex.org/W2008731016","https://openalex.org/W2012033048","https://openalex.org/W2034052310","https://openalex.org/W2041846944","https://openalex.org/W2080608197","https://openalex.org/W2099452910","https://openalex.org/W2108792235","https://openalex.org/W2126067304","https://openalex.org/W2135449224","https://openalex.org/W2161728531","https://openalex.org/W2163540231","https://openalex.org/W2624183933","https://openalex.org/W3212674798","https://openalex.org/W4243187194","https://openalex.org/W6683804620","https://openalex.org/W6803976954"],"related_works":["https://openalex.org/W2563111511","https://openalex.org/W2913402129","https://openalex.org/W2098857302","https://openalex.org/W2161728531","https://openalex.org/W2044195815","https://openalex.org/W2057151759","https://openalex.org/W2541620444","https://openalex.org/W2368309484","https://openalex.org/W2066729819","https://openalex.org/W2460740512"],"abstract_inverted_index":{"This":[0],"paper":[1],"identifies":[2],"procedures":[3],"for":[4,15,49,90],"selecting":[5],"the":[6,28,37,56,76,82],"appropriate":[7],"admittance":[8,29,54,77],"to":[9],"achieve":[10],"reliable":[11],"planar":[12],"force-guided":[13],"assembly":[14],"single-point":[16],"frictional":[17],"contact":[18,42,64],"cases.":[19],"A":[20],"set":[21],"of":[22,63,70],"conditions":[23,34,58,83],"that":[24,36,39,81],"are":[25,84],"imposed":[26],"on":[27],"matrix":[30],"is":[31],"presented.":[32],"These":[33],"ensure":[35,80],"motion":[38],"results":[40],"from":[41],"reduces":[43],"part":[44],"misalignment.":[45],"We":[46],"show":[47],"that,":[48],"bounded":[50],"misalignments,":[51],"if":[52],"an":[53],"satisfies":[55],"misalignment-reduction":[57],"at":[59,86],"a":[60,67],"finite":[61],"number":[62],"configurations":[65,89],"and":[66],"given":[68],"coefficient":[69],"friction":[71],"/spl":[72,95],"mu//sub":[73,96],"M/)":[74],"then":[75],"will":[78],"also":[79],"satisfied":[85],"all":[87,91],"intermediate":[88],"coefficients":[92],"less":[93],"than":[94],"M/.":[97]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
