{"id":"https://openalex.org/W2055015486","doi":"https://doi.org/10.1109/tro.2011.2168690","title":"Controlled Synchronization of Heterogeneous Robotic Manipulators in the Task Space","display_name":"Controlled Synchronization of Heterogeneous Robotic Manipulators in the Task Space","publication_year":2011,"publication_date":"2011-10-12","ids":{"openalex":"https://openalex.org/W2055015486","doi":"https://doi.org/10.1109/tro.2011.2168690","mag":"2055015486"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2011.2168690","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2168690","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5057832539","display_name":"Yen\u2010Chen Liu","orcid":"https://orcid.org/0000-0003-2778-5859"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yen-Chen Liu","raw_affiliation_strings":["Department of Mechanical Engineering, University of Maryland, College Park, MD, USA","Dept. of Mech. Eng., Univ. of Maryland, College Park, MD, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Univ. of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033439822","display_name":"Nikhil Chopra","orcid":"https://orcid.org/0000-0002-5365-293X"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nikhil Chopra","raw_affiliation_strings":["Faculty of the Department of Mechanical Engineering and the Institute for Systems Research, University of Maryland, College Park, MD, USA","Fac. of the Dept. of Mech. Eng., Univ. of Maryland, College Park, MD, USA"],"affiliations":[{"raw_affiliation_string":"Faculty of the Department of Mechanical Engineering and the Institute for Systems Research, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]},{"raw_affiliation_string":"Fac. of the Dept. of Mech. Eng., Univ. of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5057832539"],"corresponding_institution_ids":["https://openalex.org/I66946132"],"apc_list":null,"apc_paid":null,"fwci":19.6756,"has_fulltext":false,"cited_by_count":206,"citation_normalized_percentile":{"value":0.99520178,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"28","issue":"1","first_page":"268","last_page":"275"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9976000189781189,"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/T12216","display_name":"Network Time Synchronization Technologies","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.8287093639373779},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.710984468460083},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6473914384841919},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6457779407501221},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5832582712173462},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4944438934326172},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4640933871269226},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43885189294815063},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.43146464228630066},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37630748748779297},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3263121247291565},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15836405754089355}],"concepts":[{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.8287093639373779},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.710984468460083},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6473914384841919},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6457779407501221},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5832582712173462},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4944438934326172},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4640933871269226},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43885189294815063},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.43146464228630066},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37630748748779297},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3263121247291565},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15836405754089355},{"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2011.2168690","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2168690","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W18288968","https://openalex.org/W72772543","https://openalex.org/W247697463","https://openalex.org/W564609686","https://openalex.org/W1509235676","https://openalex.org/W1906544075","https://openalex.org/W1969087273","https://openalex.org/W1978595173","https://openalex.org/W1984598383","https://openalex.org/W1988098342","https://openalex.org/W2015982707","https://openalex.org/W2025780842","https://openalex.org/W2036793860","https://openalex.org/W2040555760","https://openalex.org/W2078309923","https://openalex.org/W2110216011","https://openalex.org/W2113775715","https://openalex.org/W2117083995","https://openalex.org/W2121924531","https://openalex.org/W2128387268","https://openalex.org/W2133668221","https://openalex.org/W2140380216","https://openalex.org/W2142966497","https://openalex.org/W2144934775","https://openalex.org/W2152620617","https://openalex.org/W2158695337","https://openalex.org/W2159974476","https://openalex.org/W2163730696","https://openalex.org/W2169942737","https://openalex.org/W2171215799","https://openalex.org/W3104756619","https://openalex.org/W4238591275","https://openalex.org/W4300077239","https://openalex.org/W6659785781","https://openalex.org/W6683098765"],"related_works":["https://openalex.org/W4239268637","https://openalex.org/W1977819874","https://openalex.org/W2952841825","https://openalex.org/W2051296765","https://openalex.org/W2960878236","https://openalex.org/W153449849","https://openalex.org/W2906741053","https://openalex.org/W2969358681","https://openalex.org/W2107122120","https://openalex.org/W2342009288"],"abstract_inverted_index":{"Passivity-based":[0],"control":[1,64],"has":[2],"emerged":[3],"as":[4],"an":[5,62],"important":[6],"paradigm":[7],"for":[8,32],"synchronization":[9,27,44,56,71],"of":[10,18,42,45,72,79,90],"networked":[11,73],"robotic":[12,49,74],"systems.":[13],"Despite":[14],"the":[15,21,40,77,88,91],"practical":[16],"utility":[17],"task-space":[19,43,70],"algorithms,":[20],"previous":[22],"results":[23,57],"focused":[24],"on":[25],"joint-space":[26],"and":[28,82,96,102],"were":[29],"primarily":[30],"derived":[31],"kinematically":[33],"identical":[34],"manipulators.":[35],"Hence,":[36],"in":[37,76],"this":[38],"paper,":[39],"problem":[41],"(possibly":[46],"redundant)":[47],"heterogeneous":[48],"systems":[50],"is":[51,66],"studied.":[52],"By":[53],"exploiting":[54],"passivity-based":[55],"that":[58],"are":[59,98],"developed":[60],"previously,":[61],"adaptive":[63],"algorithm":[65],"proposed":[67,92],"to":[68],"guarantee":[69],"manipulators":[75],"presence":[78],"dynamic":[80],"uncertainties":[81],"time-varying":[83],"communication":[84],"delays.":[85],"To":[86],"demonstrate":[87],"efficacy":[89],"framework,":[93],"numerical":[94],"simulations":[95],"experiments":[97],"conducted":[99],"with":[100],"redundant":[101],"nonredundant":[103],"manipulators,":[104],"respectively.":[105]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":15},{"year":2019,"cited_by_count":19},{"year":2018,"cited_by_count":17},{"year":2017,"cited_by_count":16},{"year":2016,"cited_by_count":19},{"year":2015,"cited_by_count":17},{"year":2014,"cited_by_count":27},{"year":2013,"cited_by_count":19},{"year":2012,"cited_by_count":8}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}