{"id":"https://openalex.org/W2109975140","doi":"https://doi.org/10.1109/robot.2005.1570781","title":"On the Control of Robots with Visco-Elastic Joints","display_name":"On the Control of Robots with Visco-Elastic Joints","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2109975140","doi":"https://doi.org/10.1109/robot.2005.1570781","mag":"2109975140"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570781","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570781","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 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/A5049914116","display_name":"Alessandro De Luca","orcid":"https://orcid.org/0000-0002-0713-5608"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"A. de Luca","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy","Dipartimento di Informatica e Sistemistica Universit\u00e0 di Roma \u201cLa Sapienza\u2019 Via Eudossiana 18, 00184 Roma, Italy, deluca@dis.uniroma1.it"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica Universit\u00e0 di Roma \u201cLa Sapienza\u2019 Via Eudossiana 18, 00184 Roma, Italy, deluca@dis.uniroma1.it","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003904809","display_name":"Riccardo Farina","orcid":"https://orcid.org/0009-0006-4693-7036"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"R. Farina","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy","Dipartimento di Informatica e Sistemistica, Universit\u00e1 di Roma \u201cLa Sapienza\u201d, Rome, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universit\u00e1 di Roma \u201cLa Sapienza\u201d, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073503187","display_name":"P. Lucibello","orcid":"https://orcid.org/0009-0000-5719-5521"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"P. Lucibello","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy","Dipartimento di Informatica e Sistemistica, Universit\u00e1 di Roma \u201cLa Sapienza\u201d, Rome, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universit\u00e1 di Roma \u201cLa Sapienza\u201d, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5049914116"],"corresponding_institution_ids":["https://openalex.org/I861853513"],"apc_list":null,"apc_paid":null,"fwci":4.1849,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":{"value":0.93992413,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4297","last_page":"4302"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9983999729156494,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9983999729156494,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9983999729156494,"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":0.9965999722480774,"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":0.8255138993263245},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.6949463486671448},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6445454359054565},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.5807948708534241},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5688988566398621},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.533303439617157},{"id":"https://openalex.org/keywords/unobservable","display_name":"Unobservable","score":0.49688246846199036},{"id":"https://openalex.org/keywords/nonlinear-control","display_name":"Nonlinear control","score":0.4529283940792084},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43450161814689636},{"id":"https://openalex.org/keywords/elasticity","display_name":"Elasticity (physics)","score":0.4129575788974762},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2886803150177002},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2675133943557739},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2557246685028076},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15829667448997498},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08079192042350769}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8255138993263245},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.6949463486671448},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6445454359054565},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.5807948708534241},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5688988566398621},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.533303439617157},{"id":"https://openalex.org/C2780695315","wikidata":"https://www.wikidata.org/wiki/Q3799040","display_name":"Unobservable","level":2,"score":0.49688246846199036},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.4529283940792084},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43450161814689636},{"id":"https://openalex.org/C121854251","wikidata":"https://www.wikidata.org/wiki/Q62932","display_name":"Elasticity (physics)","level":2,"score":0.4129575788974762},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2886803150177002},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2675133943557739},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2557246685028076},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15829667448997498},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08079192042350769},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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/C149782125","wikidata":"https://www.wikidata.org/wiki/Q160039","display_name":"Econometrics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2005.1570781","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570781","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.568.7214","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.568.7214","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.dis.uniroma1.it/~labrob/pub/papers/ICRA05_VEJ.pdf","raw_type":"text"},{"id":"pmh:oai:iris.uniroma1.it:11573/205561","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/205561","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1887006513","https://openalex.org/W1995090200","https://openalex.org/W1997650413","https://openalex.org/W2006742133","https://openalex.org/W2007533072","https://openalex.org/W2019538835","https://openalex.org/W2030988416","https://openalex.org/W2042846337","https://openalex.org/W2049437759","https://openalex.org/W2056156187","https://openalex.org/W2068027769","https://openalex.org/W2097446805","https://openalex.org/W2099699682","https://openalex.org/W2105984753","https://openalex.org/W2121991065","https://openalex.org/W2131063775","https://openalex.org/W2131404784","https://openalex.org/W2135569231","https://openalex.org/W2140175846","https://openalex.org/W2149112009","https://openalex.org/W2163479781","https://openalex.org/W2168196118","https://openalex.org/W2187258392","https://openalex.org/W2536343342","https://openalex.org/W3160954918","https://openalex.org/W4205362845","https://openalex.org/W4233649854","https://openalex.org/W4238578084","https://openalex.org/W4292872153"],"related_works":["https://openalex.org/W2349527210","https://openalex.org/W1998462347","https://openalex.org/W1836713364","https://openalex.org/W2131265573","https://openalex.org/W2899783744","https://openalex.org/W2964841342","https://openalex.org/W4300511988","https://openalex.org/W130230158","https://openalex.org/W2381676799","https://openalex.org/W2912982761"],"abstract_inverted_index":{"Feedback":[0],"linearization":[1,53,159],"is":[2,61],"a":[3,44,98,111,133,136,148],"viable":[4],"nonlinear":[5,59,99,126],"control":[6,83,113,128],"technique":[7],"for":[8,115,132],"solving":[9],"trajectory":[10],"tracking":[11,79],"problems":[12],"in":[13,63,80],"robots":[14,37],"with":[15,38,110],"(and":[16],"without)":[17],"elastic":[18],"joints.":[19],"However,":[20],"the":[21,41,64,68,105,153,156],"additional":[22],"presence":[23],"of":[24,43,71,118,140,155],"dissipative":[25],"effects":[26],"due":[27],"to":[28,97,104],"joint":[29,92,119,142],"viscosity":[30,93,120],"destroys":[31],"full":[32],"state":[33,46,101],"feedback":[34,47,88,102,127],"linearizability.":[35],"For":[36],"visco-elastic":[39,141],"joints,":[40],"use":[42],"static":[45,87],"can":[48],"achieve":[49],"at":[50],"most":[51],"input-output":[52,158],"and":[54,121,124,135],"decoupling,":[55],"since":[56],"an":[57],"internal":[58],"dynamics":[60,74],"left":[62],"closed-loop":[65,107],"system.":[66],"Although":[67],"stability":[69],"properties":[70],"this":[72],"unobservable":[73],"still":[75],"guarantee":[76],"perfect":[77],"output":[78],"nominal":[81],"conditions,":[82],"design":[84],"based":[85],"on":[86,147],"becomes":[89],"ill-conditioned":[90],"as":[91],"decreases.":[94],"Instead,":[95],"resorting":[96],"dynamic":[100,125,138,157],"leads":[103],"same":[106],"properties,":[108],"but":[109],"regularized":[112],"effort":[114],"any":[116],"level":[117],"elasticity.":[122],"Static":[123],"designs":[129],"are":[130],"presented":[131],"reduced":[134],"complete":[137],"model":[139],"robots.":[143],"A":[144],"numerical":[145],"comparison":[146],"simple":[149],"case":[150],"study":[151],"illustrates":[152],"benefits":[154],"approach.":[160]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}