{"id":"https://openalex.org/W2105423218","doi":"https://doi.org/10.1109/robot.2008.4543278","title":"Transparent bilateral control for time-delayed teleoperation by state convergence","display_name":"Transparent bilateral control for time-delayed teleoperation by state convergence","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2105423218","doi":"https://doi.org/10.1109/robot.2008.4543278","mag":"2105423218"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543278","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543278","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 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/A5024891438","display_name":"Jos\u00e9 M. Azor\u00edn","orcid":"https://orcid.org/0000-0001-5548-9657"},"institutions":[{"id":"https://openalex.org/I111262870","display_name":"Universitat de Miguel Hern\u00e1ndez d'Elx","ror":"https://ror.org/01azzms13","country_code":"ES","type":"education","lineage":["https://openalex.org/I111262870"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Jose M. Azorin","raw_affiliation_strings":["Virtual Reality and Robotics Lab, Universidad Miguel Hern\u00e1ndez de Elche, Elche (Alicante), Spain","Virtual Reality & Robot. Lab., Univ. Miguel Hernandez de Elche, Elche"],"affiliations":[{"raw_affiliation_string":"Virtual Reality and Robotics Lab, Universidad Miguel Hern\u00e1ndez de Elche, Elche (Alicante), Spain","institution_ids":["https://openalex.org/I111262870"]},{"raw_affiliation_string":"Virtual Reality & Robot. Lab., Univ. Miguel Hernandez de Elche, Elche","institution_ids":["https://openalex.org/I111262870"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043537205","display_name":"Rafa\u00e9l Aracil","orcid":null},"institutions":[{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Rafael Aracil","raw_affiliation_strings":["DISAM, Universidad Polit\u00e9cnica de Madrid, Madrid, Spain","DISAM, Universidad Polit\u00e9cnica de Madrid, 28006 Spain"],"affiliations":[{"raw_affiliation_string":"DISAM, Universidad Polit\u00e9cnica de Madrid, Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]},{"raw_affiliation_string":"DISAM, Universidad Polit\u00e9cnica de Madrid, 28006 Spain","institution_ids":["https://openalex.org/I88060688"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101809187","display_name":"Carlos A. Perez","orcid":"https://orcid.org/0000-0002-5484-4159"},"institutions":[{"id":"https://openalex.org/I111262870","display_name":"Universitat de Miguel Hern\u00e1ndez d'Elx","ror":"https://ror.org/01azzms13","country_code":"ES","type":"education","lineage":["https://openalex.org/I111262870"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Carlos Perez","raw_affiliation_strings":["Virtual Reality and Robotics Lab, Universidad Miguel Hern\u00e1ndez de Elche, Elche (Alicante), Spain","Virtual Reality and Robotics Lab, Universidad Miguel Hern\u00e1ndez de Elche, Alicante, 03202 Spain"],"affiliations":[{"raw_affiliation_string":"Virtual Reality and Robotics Lab, Universidad Miguel Hern\u00e1ndez de Elche, Elche (Alicante), Spain","institution_ids":["https://openalex.org/I111262870"]},{"raw_affiliation_string":"Virtual Reality and Robotics Lab, Universidad Miguel Hern\u00e1ndez de Elche, Alicante, 03202 Spain","institution_ids":["https://openalex.org/I111262870"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088148027","display_name":"Nicol\u00e1s Garc\u00eda-Aracil","orcid":"https://orcid.org/0000-0002-2510-3829"},"institutions":[{"id":"https://openalex.org/I111262870","display_name":"Universitat de Miguel Hern\u00e1ndez d'Elx","ror":"https://ror.org/01azzms13","country_code":"ES","type":"education","lineage":["https://openalex.org/I111262870"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Nicolas M. Garcia","raw_affiliation_strings":["Virtual Reality and Robotics Lab, Universidad Miguel Hern\u00e1ndez de Elche, Elche (Alicante), Spain","Virtual Reality and Robotics Lab, Universidad Miguel Hern\u00e1ndez de Elche, Alicante, 03202 Spain"],"affiliations":[{"raw_affiliation_string":"Virtual Reality and Robotics Lab, Universidad Miguel Hern\u00e1ndez de Elche, Elche (Alicante), Spain","institution_ids":["https://openalex.org/I111262870"]},{"raw_affiliation_string":"Virtual Reality and Robotics Lab, Universidad Miguel Hern\u00e1ndez de Elche, Alicante, 03202 Spain","institution_ids":["https://openalex.org/I111262870"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066362808","display_name":"Jos\u00e9 Mar\u00eda Sabater-Navarro","orcid":"https://orcid.org/0000-0002-3890-6225"},"institutions":[{"id":"https://openalex.org/I111262870","display_name":"Universitat de Miguel Hern\u00e1ndez d'Elx","ror":"https://ror.org/01azzms13","country_code":"ES","type":"education","lineage":["https://openalex.org/I111262870"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jose M. Sabater","raw_affiliation_strings":["Virtual Reality and Robotics Lab, Universidad Miguel Hern\u00e1ndez de Elche, Elche (Alicante), Spain","Virtual Reality and Robotics Lab, Universidad Miguel Hern\u00e1ndez de Elche, Alicante, 03202 Spain"],"affiliations":[{"raw_affiliation_string":"Virtual Reality and Robotics Lab, Universidad Miguel Hern\u00e1ndez de Elche, Elche (Alicante), Spain","institution_ids":["https://openalex.org/I111262870"]},{"raw_affiliation_string":"Virtual Reality and Robotics Lab, Universidad Miguel Hern\u00e1ndez de Elche, Alicante, 03202 Spain","institution_ids":["https://openalex.org/I111262870"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5024891438"],"corresponding_institution_ids":["https://openalex.org/I111262870"],"apc_list":null,"apc_paid":null,"fwci":0.6094,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.74272161,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"643","last_page":"648"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"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/T13885","display_name":"Geophysics and Sensor Technology","score":0.9344000220298767,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9319999814033508,"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/teleoperation","display_name":"Teleoperation","score":0.9597350358963013},{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.7276472449302673},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.632940411567688},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6004014015197754},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.5983472466468811},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5890172719955444},{"id":"https://openalex.org/keywords/master/slave","display_name":"Master/slave","score":0.560652494430542},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5581426024436951},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.45574215054512024},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44971877336502075},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4301499128341675},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4208027422428131},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3840978145599365},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3542899489402771},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3371824622154236},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15922516584396362},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14578795433044434},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08726561069488525}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9597350358963013},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.7276472449302673},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.632940411567688},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6004014015197754},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.5983472466468811},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5890172719955444},{"id":"https://openalex.org/C20454292","wikidata":"https://www.wikidata.org/wiki/Q735523","display_name":"Master/slave","level":2,"score":0.560652494430542},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5581426024436951},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.45574215054512024},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44971877336502075},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4301499128341675},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4208027422428131},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3840978145599365},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3542899489402771},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3371824622154236},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15922516584396362},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14578795433044434},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08726561069488525},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/robot.2008.4543278","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543278","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","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":9,"referenced_works":["https://openalex.org/W1888562584","https://openalex.org/W1967390389","https://openalex.org/W2024439876","https://openalex.org/W2079766748","https://openalex.org/W2093529705","https://openalex.org/W2118848280","https://openalex.org/W2168676985","https://openalex.org/W2171649388","https://openalex.org/W3083704693"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W817518365","https://openalex.org/W2097059456","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652","https://openalex.org/W2022619197","https://openalex.org/W2145960295","https://openalex.org/W157833000","https://openalex.org/W2101849315"],"abstract_inverted_index":{"This":[0],"paper":[1,102],"presents":[2],"a":[3],"new":[4],"bilateral":[5,78],"control":[6,16,79,99,114],"scheme":[7,17,80],"for":[8],"time-delayed":[9],"teleoperation":[10],"designed":[11],"to":[12,36,60,68],"achieve":[13],"transparency.":[14],"The":[15,77],"allows":[18,109],"that":[19,32,108],"the":[20,23,28,33,37,41,45,49,53,56,61,69,72,75,91,94,98,101,110,113],"slave":[21,54,92],"follows":[22],"master":[24],"in":[25,84],"spite":[26],"of":[27,52,74,90,112],"time":[29],"delay,":[30],"ant":[31],"force":[34,43,51],"displayed":[35],"operator":[38],"was":[39],"exactly":[40],"reaction":[42],"from":[44],"environment.":[46,95],"In":[47],"addition,":[48],"interaction":[50],"with":[55,93,97],"environment":[57],"is":[58,66],"adapted":[59],"master/slave":[62],"ratio":[63],"when":[64],"it":[65],"reflected":[67],"operator,":[70],"improving":[71],"transparency":[73],"system.":[76],"can":[81],"be":[82],"used":[83],"contact":[85],"situations":[86,89],"or":[87],"non-contact":[88],"Together":[96],"scheme,":[100],"describes":[103],"an":[104],"analytical":[105],"design":[106],"method":[107],"obtaining":[111],"gains.":[115]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}