{"id":"https://openalex.org/W2940807311","doi":"https://doi.org/10.1109/tcst.2019.2908899","title":"Mixed Data-Driven and Model-Based Robot Implicit Force Control: A Hierarchical Approach","display_name":"Mixed Data-Driven and Model-Based Robot Implicit Force Control: A Hierarchical Approach","publication_year":2019,"publication_date":"2019-04-25","ids":{"openalex":"https://openalex.org/W2940807311","doi":"https://doi.org/10.1109/tcst.2019.2908899","mag":"2940807311"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2019.2908899","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2019.2908899","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","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/A5017839261","display_name":"Matteo Parigi Polverini","orcid":"https://orcid.org/0000-0002-4740-7006"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Matteo Parigi Polverini","raw_affiliation_strings":["Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia (IIT), Genoa, Italy","Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milan, Italy"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia (IIT), Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059501084","display_name":"Simone Formentin","orcid":"https://orcid.org/0000-0001-6889-6219"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Simone Formentin","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milan, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034774042","display_name":"Luca Merzagora","orcid":"https://orcid.org/0000-0003-2339-8640"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Merzagora","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milan, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065821384","display_name":"Paolo Rocco","orcid":"https://orcid.org/0000-0001-6716-434X"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Rocco","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milan, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5017839261"],"corresponding_institution_ids":["https://openalex.org/I30771326","https://openalex.org/I93860229"],"apc_list":null,"apc_paid":null,"fwci":2.6601,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.89021947,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"28","issue":"4","first_page":"1258","last_page":"1271"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9980000257492065,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9980000257492065,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9976999759674072,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9968000054359436,"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":0.8026350736618042},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5964912176132202},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5813704133033752},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5684366226196289},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.565586507320404},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5356089472770691},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.4868980944156647},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46175384521484375},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4018544554710388},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25435012578964233},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.2183786928653717},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15859729051589966}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8026350736618042},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5964912176132202},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5813704133033752},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5684366226196289},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.565586507320404},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5356089472770691},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.4868980944156647},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46175384521484375},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4018544554710388},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25435012578964233},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2183786928653717},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15859729051589966},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcst.2019.2908899","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2019.2908899","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1099949","is_oa":false,"landing_page_url":"http://hdl.handle.net/11311/1099949","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"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/article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W178056938","https://openalex.org/W1556585113","https://openalex.org/W1598941428","https://openalex.org/W1962109805","https://openalex.org/W1965324089","https://openalex.org/W1967377907","https://openalex.org/W1973783050","https://openalex.org/W1986514633","https://openalex.org/W1997520484","https://openalex.org/W1998961764","https://openalex.org/W2016958754","https://openalex.org/W2022369704","https://openalex.org/W2041998540","https://openalex.org/W2046000295","https://openalex.org/W2046010684","https://openalex.org/W2047541484","https://openalex.org/W2071710938","https://openalex.org/W2121097709","https://openalex.org/W2121407927","https://openalex.org/W2126597475","https://openalex.org/W2133193265","https://openalex.org/W2133595155","https://openalex.org/W2133715004","https://openalex.org/W2133930957","https://openalex.org/W2136638407","https://openalex.org/W2136958581","https://openalex.org/W2139773769","https://openalex.org/W2148548256","https://openalex.org/W2151083101","https://openalex.org/W2151301943","https://openalex.org/W2163020490","https://openalex.org/W2169164876","https://openalex.org/W2169440744","https://openalex.org/W2192387287","https://openalex.org/W2416622902","https://openalex.org/W2575362308","https://openalex.org/W2587491645","https://openalex.org/W2596784518","https://openalex.org/W2736842585","https://openalex.org/W3098794246","https://openalex.org/W4254005064"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W4233260495","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W1986738380","https://openalex.org/W2642061445","https://openalex.org/W3094485622","https://openalex.org/W4200457072"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,25,36,66,131,137],"hierarchical":[4],"data-driven/":[5],"model-based":[6,37],"control":[7,13,104,116],"architecture":[8],"to":[9,75,86,99],"robot":[10,41,134],"implicit":[11],"force":[12,48,122],"aiming":[14],"at":[15],"enhancing":[16],"closed-loop":[17,82,89,109],"performance.":[18,90],"An":[19],"inner":[20,77],"data-driven":[21],"controller,":[22],"based":[23],"on":[24,35,121,126],"recursive":[26],"implementation":[27],"of":[28,39,46,95,113],"virtual":[29,78],"reference":[30,67,73,79],"feedback":[31,80],"tuning,":[32],"and":[33,55,106],"relying":[34],"description":[38],"the":[40,44,47,71,76,88,96,102,114],"compliance,":[42],"prevents":[43],"deterioration":[45],"controller":[49,62],"performance":[50],"associated":[51],"with":[52,130,136],"environment":[53,128],"modeling":[54],"identification.":[56],"Then,":[57],"an":[58],"outer":[59],"model":[60],"predictive":[61],"(MPC)":[63],"acting":[64],"as":[65],"governor":[68],"selects":[69],"on-line":[70],"optimal":[72],"fed":[74],"tuning":[81],"system":[83],"in":[84],"order":[85],"improve":[87],"The":[91,111],"linear-time-invariant":[92],"(LTI)":[93],"formulation":[94],"MPC":[97,103],"allows":[98],"explicitly":[100],"obtain":[101],"law":[105],"further":[107],"demonstrate":[108],"stability.":[110],"effectiveness":[112],"proposed":[115],"strategy":[117],"is":[118],"experimentally":[119],"validated":[120],"regulation":[123],"experiments":[124],"performed":[125],"different":[127],"materials":[129],"six-degree-of-freedom":[132],"industrial":[133],"equipped":[135],"force/torque":[138],"sensor.":[139]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":5}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}