{"id":"https://openalex.org/W4408935101","doi":"https://doi.org/10.1109/tcyb.2025.3549479","title":"Force Observer-Based Motion Adaptation and Adaptive Neural Control for Robots in Contact With Unknown Environments","display_name":"Force Observer-Based Motion Adaptation and Adaptive Neural Control for Robots in Contact With Unknown Environments","publication_year":2025,"publication_date":"2025-03-29","ids":{"openalex":"https://openalex.org/W4408935101","doi":"https://doi.org/10.1109/tcyb.2025.3549479","pmid":"https://pubmed.ncbi.nlm.nih.gov/40153289"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2025.3549479","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2025.3549479","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5085578333","display_name":"Guangzhu Peng","orcid":"https://orcid.org/0000-0003-3950-0451"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangzhu Peng","raw_affiliation_strings":["School of Automation, Nanjing University of Information Science and Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-3950-0451","affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Information Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I200845125"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100721510","display_name":"Tao Li","orcid":"https://orcid.org/0000-0002-9190-0199"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Li","raw_affiliation_strings":["School of Automation, Nanjing University of Information Science and Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-9190-0199","affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Information Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I200845125"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065963850","display_name":"Yuting Guo","orcid":"https://orcid.org/0000-0002-3826-0794"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuting Guo","raw_affiliation_strings":["School of Automation, Chongqing University, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101893762","display_name":"Chengguo Liu","orcid":"https://orcid.org/0000-0003-4023-5376"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengguo Liu","raw_affiliation_strings":["State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0003-4023-5376","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I146655781","display_name":"University of Liverpool","ror":"https://ror.org/04xs57h96","country_code":"GB","type":"education","lineage":["https://openalex.org/I146655781"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["Department of Computer Science, University of Liverpool, Liverpool, U.K"],"raw_orcid":"https://orcid.org/0000-0001-5255-5559","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Liverpool, Liverpool, U.K","institution_ids":["https://openalex.org/I146655781"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100643265","display_name":"C. L. Philip Chen","orcid":"https://orcid.org/0000-0001-5451-7230"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"C. L. Philip Chen","raw_affiliation_strings":["Computer Science and Engineering College, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-5451-7230","affiliations":[{"raw_affiliation_string":"Computer Science and Engineering College, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.3347,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.76769856,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"55","issue":"5","first_page":"2138","last_page":"2150"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9879000186920166,"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":0.9879000186920166,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9866999983787537,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9035999774932861,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.6817362904548645},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5761295557022095},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5701969265937805},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5579589009284973},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.46757060289382935},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.46412304043769836},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45848509669303894},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4293310046195984},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3822101354598999},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37100377678871155},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.19877541065216064},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1650385856628418},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12818998098373413},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.11393222212791443}],"concepts":[{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.6817362904548645},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5761295557022095},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5701969265937805},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5579589009284973},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.46757060289382935},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.46412304043769836},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45848509669303894},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4293310046195984},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3822101354598999},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37100377678871155},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.19877541065216064},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1650385856628418},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12818998098373413},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.11393222212791443},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2025.3549479","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2025.3549479","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},{"id":"pmid:40153289","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40153289","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1830653690","display_name":null,"funder_award_id":"BK20220442","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"},{"id":"https://openalex.org/G3939246514","display_name":null,"funder_award_id":"U20A20200","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G556188610","display_name":null,"funder_award_id":"62373195","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G708793322","display_name":null,"funder_award_id":"62203227","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/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1517060199","https://openalex.org/W1560270123","https://openalex.org/W1666709923","https://openalex.org/W1965078187","https://openalex.org/W1985124715","https://openalex.org/W2001672192","https://openalex.org/W2033333239","https://openalex.org/W2043536379","https://openalex.org/W2057423886","https://openalex.org/W2068923975","https://openalex.org/W2093945540","https://openalex.org/W2107195452","https://openalex.org/W2111622817","https://openalex.org/W2112445496","https://openalex.org/W2114138219","https://openalex.org/W2131292439","https://openalex.org/W2138901480","https://openalex.org/W2169440744","https://openalex.org/W2407583558","https://openalex.org/W2521872058","https://openalex.org/W2625556205","https://openalex.org/W2753943679","https://openalex.org/W2792251619","https://openalex.org/W2795550549","https://openalex.org/W2942510244","https://openalex.org/W3012135745","https://openalex.org/W3021750993","https://openalex.org/W3082324969","https://openalex.org/W3118450821","https://openalex.org/W3138794164","https://openalex.org/W3196862588","https://openalex.org/W3202358609","https://openalex.org/W4206477591","https://openalex.org/W4220767832","https://openalex.org/W4224223383","https://openalex.org/W4229076292","https://openalex.org/W4245991817","https://openalex.org/W4285066240","https://openalex.org/W4285307873","https://openalex.org/W4306911038","https://openalex.org/W4312497853","https://openalex.org/W4375928753","https://openalex.org/W4378422081","https://openalex.org/W4385732485","https://openalex.org/W4388270223","https://openalex.org/W4392824842","https://openalex.org/W4393253003","https://openalex.org/W4400314880"],"related_works":["https://openalex.org/W2997567050","https://openalex.org/W3192036299","https://openalex.org/W1483272040","https://openalex.org/W4283377908","https://openalex.org/W1526712007","https://openalex.org/W1533421371","https://openalex.org/W2003050223","https://openalex.org/W2146428417","https://openalex.org/W2091777911","https://openalex.org/W2766405861"],"abstract_inverted_index":{"This":[0],"article":[1],"proposes":[2],"a":[3,12,30,54,66,82,142],"spatial":[4],"learning":[5,55],"control":[6,117],"system":[7,113,123],"for":[8,86],"robots":[9],"to":[10,126,145],"achieve":[11],"desired":[13,67],"behavior":[14],"during":[15],"interacting":[16,60],"with":[17,22,53,70,103],"unknown":[18],"environments.":[19],"In":[20],"contacting":[21],"the":[23,25,41,45,49,59,71,89,108,112,116,122,131,147,150],"environment,":[24],"force":[26,31,61],"is":[27,51,124],"estimated":[28],"by":[29,40],"observer,":[32],"so":[33],"sensing":[34],"devices":[35],"are":[36,133,139],"not":[37],"required.":[38],"Motivated":[39],"human":[42],"interaction":[43],"versatility,":[44],"reference":[46],"trajectory":[47,72],"of":[48,111,149],"robot":[50,143],"updating":[52],"law":[56],"such":[57],"that":[58],"can":[62,92,106],"be":[63,127],"maintained":[64],"at":[65],"level.":[68],"Compared":[69],"iteration":[73],"algorithm":[74],"based":[75],"on":[76,141],"time":[77],"domain,":[78],"which":[79],"requires":[80],"maintaining":[81],"fixed":[83],"motion":[84],"speed":[85],"each":[87],"iteration,":[88],"proposed":[90,151],"method":[91],"remove":[93],"this":[94],"limitation":[95],"and":[96,114,129,137],"have":[97],"better":[98],"feasibility.":[99],"The":[100],"adaptive":[101],"controller":[102],"neural":[104],"networks":[105],"compensate":[107],"uncertain":[109],"dynamics":[110],"ensure":[115],"accuracy.":[118],"Through":[119],"Lyapunov's":[120],"theory,":[121],"proved":[125],"stable,":[128],"all":[130],"states":[132],"bounded.":[134],"Comparative":[135],"simulations":[136],"experiments":[138],"conducted":[140],"platform":[144],"verify":[146],"effectiveness":[148],"method.":[152]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-19T19:40:27.379048","created_date":"2025-10-10T00:00:00"}