{"id":"https://openalex.org/W3133988555","doi":"https://doi.org/10.1109/tcst.2021.3061091","title":"Sensorless Optimal Interaction Control Exploiting Environment Stiffness Estimation","display_name":"Sensorless Optimal Interaction Control Exploiting Environment Stiffness Estimation","publication_year":2021,"publication_date":"2021-03-05","ids":{"openalex":"https://openalex.org/W3133988555","doi":"https://doi.org/10.1109/tcst.2021.3061091","mag":"3133988555"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2021.3061091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2021.3061091","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/A5086291668","display_name":"Loris Roveda","orcid":"https://orcid.org/0000-0002-4427-536X"},"institutions":[{"id":"https://openalex.org/I15196421","display_name":"University of Applied Sciences and Arts of Southern Switzerland","ror":"https://ror.org/05ep8g269","country_code":"CH","type":"education","lineage":["https://openalex.org/I15196421"]},{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]},{"id":"https://openalex.org/I57201433","display_name":"Universit\u00e0 della Svizzera italiana","ror":"https://ror.org/03c4atk17","country_code":"CH","type":"education","lineage":["https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Loris Roveda","raw_affiliation_strings":["Istituto Dalle Molle di studi sull\u2019Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Universit\u00e0 della Svizzera italiana (USI), Manno, Switzerland","Istituto Dalle Molle di studi sull'Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Universit\u00e0 della Svizzera italiana (USI), Manno, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-4427-536X","affiliations":[{"raw_affiliation_string":"Istituto Dalle Molle di studi sull\u2019Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Universit\u00e0 della Svizzera italiana (USI), Manno, Switzerland","institution_ids":["https://openalex.org/I2614128279","https://openalex.org/I57201433"]},{"raw_affiliation_string":"Istituto Dalle Molle di studi sull'Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Universit\u00e0 della Svizzera italiana (USI), Manno, Switzerland","institution_ids":["https://openalex.org/I2614128279","https://openalex.org/I15196421","https://openalex.org/I57201433"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003810719","display_name":"Asad Ali Shahid","orcid":"https://orcid.org/0009-0001-0312-9657"},"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":"Asad Ali Shahid","raw_affiliation_strings":["Department of Mechanical Engineering, Politecnico di Milano, Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007521262","display_name":"Niccol\u00f2 Iannacci","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Niccolo Iannacci","raw_affiliation_strings":["Leonardo Helicopters, Samarate, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leonardo Helicopters, Samarate, Italy","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046585507","display_name":"Dario Piga","orcid":"https://orcid.org/0000-0001-7691-4886"},"institutions":[{"id":"https://openalex.org/I15196421","display_name":"University of Applied Sciences and Arts of Southern Switzerland","ror":"https://ror.org/05ep8g269","country_code":"CH","type":"education","lineage":["https://openalex.org/I15196421"]},{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]},{"id":"https://openalex.org/I57201433","display_name":"Universit\u00e0 della Svizzera italiana","ror":"https://ror.org/03c4atk17","country_code":"CH","type":"education","lineage":["https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Dario Piga","raw_affiliation_strings":["Istituto Dalle Molle di studi sull\u2019Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Universit\u00e0 della Svizzera italiana (USI), Manno, Switzerland","Istituto Dalle Molle di studi sull'Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Universit\u00e0 della Svizzera italiana (USI), Manno, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-7691-4886","affiliations":[{"raw_affiliation_string":"Istituto Dalle Molle di studi sull\u2019Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Universit\u00e0 della Svizzera italiana (USI), Manno, Switzerland","institution_ids":["https://openalex.org/I2614128279","https://openalex.org/I57201433"]},{"raw_affiliation_string":"Istituto Dalle Molle di studi sull'Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Universit\u00e0 della Svizzera italiana (USI), Manno, Switzerland","institution_ids":["https://openalex.org/I2614128279","https://openalex.org/I15196421","https://openalex.org/I57201433"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5086291668"],"corresponding_institution_ids":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"],"apc_list":null,"apc_paid":null,"fwci":4.5791,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.95096783,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"30","issue":"1","first_page":"218","last_page":"233"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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":0.9991999864578247,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.996399998664856,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9894000291824341,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7162852883338928},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.622355580329895},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6104076504707336},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5926396250724792},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5771444439888},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5383051633834839},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5353174209594727},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5303025245666504},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4852309226989746},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.430730938911438},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.42587757110595703},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32823729515075684},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.321272611618042},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28514328598976135},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12316608428955078}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7162852883338928},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.622355580329895},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6104076504707336},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5926396250724792},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5771444439888},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5383051633834839},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5353174209594727},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5303025245666504},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4852309226989746},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.430730938911438},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.42587757110595703},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32823729515075684},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.321272611618042},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28514328598976135},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12316608428955078},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","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/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.2021.3061091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2021.3061091","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:11311/1278442","is_oa":false,"landing_page_url":"https://hdl.handle.net/11311/1278442","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":[],"awards":[{"id":"https://openalex.org/G7172734496","display_name":null,"funder_award_id":"886977","funder_id":"https://openalex.org/F4320320367","funder_display_name":"Cleansky"}],"funders":[{"id":"https://openalex.org/F4320320367","display_name":"Cleansky","ror":"https://ror.org/03nv0z257"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1529576444","https://openalex.org/W1571443838","https://openalex.org/W1579368557","https://openalex.org/W1973852338","https://openalex.org/W1978023077","https://openalex.org/W1984769082","https://openalex.org/W1990281946","https://openalex.org/W1998228064","https://openalex.org/W2002589631","https://openalex.org/W2022638531","https://openalex.org/W2026214335","https://openalex.org/W2075882481","https://openalex.org/W2107195452","https://openalex.org/W2136447622","https://openalex.org/W2164664819","https://openalex.org/W2167808181","https://openalex.org/W2171868844","https://openalex.org/W2197483363","https://openalex.org/W2229463931","https://openalex.org/W2247230765","https://openalex.org/W2414912589","https://openalex.org/W2602151145","https://openalex.org/W2752098605","https://openalex.org/W2752466400","https://openalex.org/W2762973286","https://openalex.org/W2766054471","https://openalex.org/W2768491079","https://openalex.org/W2791916304","https://openalex.org/W2794181638","https://openalex.org/W2900566638","https://openalex.org/W2902635212","https://openalex.org/W2903853347","https://openalex.org/W2907599350","https://openalex.org/W2942510244","https://openalex.org/W2957081532","https://openalex.org/W2963527806","https://openalex.org/W2964222556","https://openalex.org/W2968405527","https://openalex.org/W2976681006","https://openalex.org/W3035578948","https://openalex.org/W3091073299","https://openalex.org/W4235322634","https://openalex.org/W6689483542","https://openalex.org/W6755783899","https://openalex.org/W6780383567"],"related_works":["https://openalex.org/W2103062922","https://openalex.org/W2162299404","https://openalex.org/W2786196354","https://openalex.org/W2157702526","https://openalex.org/W4399374581","https://openalex.org/W2071387541","https://openalex.org/W1983135609","https://openalex.org/W2789837488","https://openalex.org/W4229014760","https://openalex.org/W2786003999"],"abstract_inverted_index":{"Industrial":[0],"robots":[1],"are":[2,21,178,286],"increasingly":[3],"used":[4,149,310],"to":[5,25,37,40,49,57,62,103,131,150,157,196,206,288],"perform":[6,207],"tasks":[7],"that":[8],"require":[9,46],"an":[10,124,136,152,300],"interaction":[11,108,137,155,191,210,261],"with":[12,218,236],"the":[13,26,34,41,51,59,63,69,92,97,119,133,140,143,159,171,182,190,198,202,208,244,252,255,258,264,271,274,277,280,290,293,312],"surrounding":[14],"environment":[15,186],"(e.g.,":[16],"assembly":[17,301],"tasks).":[18],"Such":[19],"environments":[20],"usually":[22],"(partially)":[23],"unknown":[24],"robot":[27,60,204,307],"(in":[28],"terms":[29,83],"of":[30,68,84,99,135,181,230,243,254,273,279],"dynamic":[31,146],"characteristics),":[32],"demanding":[33],"implemented":[35],"controllers":[36,45,102],"suitably":[38],"react":[39],"established":[42],"interaction.":[43],"Standard":[44],"force/torque":[47,76],"measurements":[48],"close":[50,158,197],"loop,":[52,200],"making":[53,201],"it,":[54],"if":[55],"possible,":[56],"adapt":[58],"behavior":[61],"specific":[64],"environment.":[65,138],"However,":[66],"most":[67],"industrial":[70],"manipulators":[71],"do":[72],"not":[73],"have":[74],"embedded":[75],"sensor(s),":[77],"which":[78],"entails":[79],"additional":[80,284],"effort":[81],"in":[82,91,114],"costs":[85],"and":[86,185,227,257,299],"implementation":[87],"for":[88,276,316],"their":[89],"integration":[90],"robotic":[93,314],"setup.":[94],"To":[95],"extend":[96],"use":[98],"sensorless":[100,120,203],"compliant":[101],"force":[104,160,192,199],"control,":[105,123],"a":[106,179,224,228,231,237],"robot\u2013environment":[107,144],"dynamics":[109],"model-based":[110],"methodology":[111],"is":[112,129,148,268],"presented":[113],"this":[115],"article.":[116],"Relying":[117],"on":[118,292],"Cartesian":[121],"impedance":[122,183],"extended":[125],"Kalman":[126],"filter":[127],"(EKF)":[128],"proposed":[130,245,265],"estimate":[132],"stiffness":[134],"Exploiting":[139],"provided":[141,287],"estimation,":[142],"coupled":[145],"modeling":[147],"design":[151],"optimal":[153,259],"LQR":[154,260],"controller":[156],"loop.":[161],"The":[162,212,241,303],"control":[163,184,246,266,294],"gains":[164,177],"can":[165,193],"be":[166,194],"analytically":[167],"computed":[168],"by":[169,220,270],"solving":[170],"related":[172],"Riccati":[173],"equation,":[174],"as":[175,311],"such":[176],"function":[180],"parameters.":[187],"In":[188],"addition,":[189],"estimated":[195],"able":[205],"target":[209],"task.":[211],"described":[213],"approach":[214],"has":[215,248,308],"been":[216,249,309],"validated":[217],"experiments":[219,285],"analyzing":[221],"two":[222],"scenarios:":[223],"probing":[225],"task":[226,298],"closing":[229],"plastic":[232],"(i.e.,":[233],"compliant)":[234],"box":[235],"snap-fit":[238],"closure":[239],"mechanism.":[240],"performance":[242],"framework":[247],"evaluated,":[250],"highlighting":[251],"capabilities":[253],"EKF":[256,275],"controller.":[262],"Finally,":[263],"schema":[267,295],"enhanced":[269],"adaptation":[272],"estimation":[278],"external":[281],"wrench.":[282],"Two":[283],"show":[289],"improvements":[291],"(a":[296],"polishing-like":[297],"task).":[302],"Franka":[304],"EMIKA":[305],"panda":[306],"reference":[313],"platform":[315],"experimental":[317],"validation.":[318]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
