{"id":"https://openalex.org/W3215773990","doi":"https://doi.org/10.1109/tase.2021.3126743","title":"Model-Free Adaptive Impedance Control for Autonomous Robotic Sanding","display_name":"Model-Free Adaptive Impedance Control for Autonomous Robotic Sanding","publication_year":2021,"publication_date":"2021-11-17","ids":{"openalex":"https://openalex.org/W3215773990","doi":"https://doi.org/10.1109/tase.2021.3126743","mag":"3215773990"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2021.3126743","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2021.3126743","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5078883364","display_name":"Yingxin Huo","orcid":"https://orcid.org/0000-0003-4348-7421"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Yingxin Huo","raw_affiliation_strings":["Department of Biomedical Engineering, City University of Hong Kong, Hong Kong","Hong Kong Center for Cerebro-Cardiovascular Health Engineering (COCHE), City University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, City University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Hong Kong Center for Cerebro-Cardiovascular Health Engineering (COCHE), City University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100432616","display_name":"Peng Li","orcid":"https://orcid.org/0000-0001-5438-0756"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Li","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010085736","display_name":"Diancheng Chen","orcid":"https://orcid.org/0000-0001-5421-5793"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Diancheng Chen","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107857857","display_name":"Yun-Hui Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun-Hui Liu","raw_affiliation_strings":["Department of Automation and Mechanical Engineering, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Automation and Mechanical Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100331032","display_name":"Xiang Li","orcid":"https://orcid.org/0000-0002-0699-1904"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]},{"id":"https://openalex.org/I4210105229","display_name":"City University of Hong Kong, Shenzhen Research Institute","ror":"https://ror.org/00xc0ma20","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210105229"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Xiang Li","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China","CUHK Shenzhen Research Institute, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"CUHK Shenzhen Research Institute, Shenzhen, China","institution_ids":["https://openalex.org/I4210105229","https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5078883364"],"corresponding_institution_ids":["https://openalex.org/I168719708"],"apc_list":null,"apc_paid":null,"fwci":9.52,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.97771396,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"19","issue":"4","first_page":"3601","last_page":"3611"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9986000061035156,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9983000159263611,"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/robot","display_name":"Robot","score":0.6515690088272095},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.630871057510376},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.561593770980835},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4975431263446808},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4561968445777893},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.4551647901535034},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42095381021499634},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4121488630771637},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.35415947437286377},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34516972303390503},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2599002718925476},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.10846400260925293}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6515690088272095},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.630871057510376},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.561593770980835},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4975431263446808},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4561968445777893},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.4551647901535034},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42095381021499634},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4121488630771637},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.35415947437286377},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34516972303390503},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2599002718925476},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.10846400260925293},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2021.3126743","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2021.3126743","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Decent work and economic growth","score":0.5799999833106995,"id":"https://metadata.un.org/sdg/8"}],"awards":[{"id":"https://openalex.org/G1198472114","display_name":null,"funder_award_id":"61803321","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5792935957","display_name":null,"funder_award_id":"JCYJ20170816164748290","funder_id":"https://openalex.org/F4320329174","funder_display_name":"Shenzhen Municipal Science and Technology Innovation Council"},{"id":"https://openalex.org/G6490510233","display_name":null,"funder_award_id":"JCYJ20180507183456108","funder_id":"https://openalex.org/F4320329174","funder_display_name":"Shenzhen Municipal Science and Technology Innovation Council"},{"id":"https://openalex.org/G8378505745","display_name":null,"funder_award_id":"62073099","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322392","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549"},{"id":"https://openalex.org/F4320329174","display_name":"Shenzhen Municipal Science and Technology Innovation Council","ror":"https://ror.org/017n8df75"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1508960934","https://openalex.org/W1967377907","https://openalex.org/W1968907598","https://openalex.org/W1981822439","https://openalex.org/W1986152369","https://openalex.org/W2041528325","https://openalex.org/W2049981393","https://openalex.org/W2053503921","https://openalex.org/W2083385512","https://openalex.org/W2119851068","https://openalex.org/W2133932631","https://openalex.org/W2142224528","https://openalex.org/W2145783107","https://openalex.org/W2163998405","https://openalex.org/W2460622472","https://openalex.org/W2506764481","https://openalex.org/W2605924076","https://openalex.org/W2620810193","https://openalex.org/W2783009944","https://openalex.org/W2791731233","https://openalex.org/W2803632469","https://openalex.org/W2899345235","https://openalex.org/W2905272991","https://openalex.org/W2963282966","https://openalex.org/W2968744730","https://openalex.org/W2982429175","https://openalex.org/W2988334419","https://openalex.org/W2992963769","https://openalex.org/W2996141723","https://openalex.org/W3003537242","https://openalex.org/W3003587564","https://openalex.org/W3003705398","https://openalex.org/W3013218245","https://openalex.org/W3023540311","https://openalex.org/W4252031641"],"related_works":["https://openalex.org/W1991810297","https://openalex.org/W2032253950","https://openalex.org/W2969358681","https://openalex.org/W1819950161","https://openalex.org/W2112559358","https://openalex.org/W2785665096","https://openalex.org/W2107122120","https://openalex.org/W194970950","https://openalex.org/W2000675896","https://openalex.org/W2342009288"],"abstract_inverted_index":{"Sanding":[0],"is":[1,25,36,43,94,111,126,179,224,284,304,316,339],"a":[2,82,270,287],"common":[3],"yet":[4],"important":[5],"task":[6],"in":[7,65,96],"the":[8,19,28,48,54,66,74,79,91,97,104,108,115,119,123,129,136,153,158,165,169,176,195,198,204,210,233,243,261,281,291,295,301,308,313,321,326,336,345,354,360,364,370,373],"manufacturing":[9],"of":[10,51,56,81,90,100,107,139,175,197,203,222,235,263,335,347],"many":[11],"wooden":[12],"objects":[13,24,143,190],"(e.g.":[14,332],"furniture,":[15],"decoration":[16],"box),":[17],"where":[18],"coated":[20],"layer":[21],"attached":[22],"on":[23,39,122,188],"removed":[26],"after":[27,62],"interaction":[29,296,314],"with":[30,47,73,114,144,182,213,342],"sanding":[31,34,85,120,223,239,248,276,355],"belts.":[32],"Existing":[33],"operation":[35],"heavily":[37],"dependent":[38],"manual":[40,214],"works,":[41],"which":[42],"highly":[44],"labor-intensive":[45],"and":[46,53,58,68,118,168,185,257,265,294,357],"low":[49],"consistency":[50],"quality,":[52],"issues":[55,262],"safety":[57],"health":[59,264],"also":[60,340,358],"arise":[61],"continuous":[63],"working":[64,140,220],"noisy":[67],"dusty":[69],"environment.":[70],"To":[71],"deal":[72],"aforementioned,":[75],"this":[76,299],"paper":[77,268],"presents":[78,269],"development":[80],"new":[83,271],"autonomous":[84,88,374],"robot.":[86,200,277],"The":[87,148,173,201],"capability":[89],"developed":[92,199,205],"robot":[93,137,206,244],"reflected":[95],"whole":[98],"procedure":[99],"sanding.":[101,376],"In":[102,278,298,324],"particular,":[103],"CAD":[105],"model":[106],"target":[109,124],"object":[110],"automatically":[112],"constructed":[113],"structured-light":[116],"technology,":[117],"behavior":[121],"surface":[125],"self-regulated":[127],"under":[128],"desired":[130],"impedance":[131,150,272,279],"model.":[132],"Such":[133,349],"feature":[134],"makes":[135],"capable":[138],"towards":[141],"uncertain":[142,166],"minimum":[145],"human":[146,322],"involvement.":[147],"proposed":[149],"controller":[151],"has":[152],"model-free":[154],"advantage,":[155],"by":[156,306,318,329,343],"using":[157,307,344],"adaptive":[159],"neural":[160],"networks":[161],"(NNs)":[162],"to":[163,193,217,229,232,245,320,363],"compensate":[164],"dynamics":[167,334],"unknown":[170,333],"disturbances":[171],"online.":[172],"stability":[174],"closed-loop":[177],"system":[178],"rigorously":[180],"proved":[181],"Lyapunov":[183],"methods,":[184],"experimental":[186],"results":[187],"different":[189],"are":[191],"presented":[192],"validate":[194],"performance":[196],"implementation":[202],"can":[207,250,351],"systematically":[208,259],"address":[209,260],"problems":[211],"associated":[212],"works.":[215],"Note":[216],"Practitioners\u2014The":[218],"current":[219],"environment":[221,256],"not":[225],"healthy":[226],"or":[227],"safe":[228],"humans,":[230],"due":[231],"nature":[234],"noise,":[236],"dust,":[237],"high-speed":[238],"belt.":[240],"By":[241],"controlling":[242],"autonomously":[246],"perform":[247],"tasks":[249],"keep":[251],"humans":[252],"away":[253],"from":[254],"such":[255],"hence":[258],"safety.":[266],"This":[267],"control":[273,282],"method":[274],"for":[275,372],"control,":[280],"goal":[283],"specified":[285],"as":[286],"dynamic":[288],"relationship":[289],"between":[290],"contact":[292,302],"position":[293,303],"force.":[297],"paper,":[300],"determined":[305],"3D":[309],"vision":[310],"sensor,":[311],"while":[312],"force":[315],"regulated":[317],"referring":[319],"experience.":[323],"addition,":[325],"influence":[327],"caused":[328],"unmodeled":[330],"factors":[331],"sanded":[337,365],"object)":[338],"dealt":[341],"techniques":[346],"NNs.":[348],"setting":[350],"effectively":[352],"guarantee":[353],"quality":[356],"avoid":[359],"physical":[361],"damage":[362],"object.":[366],"Therefore,":[367],"it":[368],"lays":[369],"foundation":[371],"robotic":[375]},"counts_by_year":[{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}