{"id":"https://openalex.org/W4406387938","doi":"https://doi.org/10.1109/tro.2025.3530345","title":"Impedance Learning-Based Adaptive Force Tracking for Robot on Unknown Terrains","display_name":"Impedance Learning-Based Adaptive Force Tracking for Robot on Unknown Terrains","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4406387938","doi":"https://doi.org/10.1109/tro.2025.3530345"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3530345","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3530345","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/A5106550899","display_name":"Yanghong Li","orcid":"https://orcid.org/0000-0002-8974-6524"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210151738","display_name":"Precision Research (United States)","ror":"https://ror.org/04y784b90","country_code":"US","type":"company","lineage":["https://openalex.org/I4210151738"]}],"countries":["CN","US"],"is_corresponding":true,"raw_author_name":"Yanghong Li","raw_affiliation_strings":["Humanoid Robotics Institute, State Key Laboratory of Precision and Intelligent Chemistry, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, China","Humanoid Robotics Institute, State Key Laboratory of Precision and Intelligent Chemistry, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoid Robotics Institute, State Key Laboratory of Precision and Intelligent Chemistry, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I4210151738"]},{"raw_affiliation_string":"Humanoid Robotics Institute, State Key Laboratory of Precision and Intelligent Chemistry, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Li Zheng","orcid":"https://orcid.org/0000-0002-8974-6524"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210151738","display_name":"Precision Research (United States)","ror":"https://ror.org/04y784b90","country_code":"US","type":"company","lineage":["https://openalex.org/I4210151738"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Li Zheng","raw_affiliation_strings":["Humanoid Robotics Institute, State Key Laboratory of Precision and Intelligent Chemistry, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, China","Humanoid Robotics Institute, State Key Laboratory of Precision and Intelligent Chemistry, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui, China"],"raw_orcid":"https://orcid.org/0000-0002-8974-6524","affiliations":[{"raw_affiliation_string":"Humanoid Robotics Institute, State Key Laboratory of Precision and Intelligent Chemistry, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I4210151738"]},{"raw_affiliation_string":"Humanoid Robotics Institute, State Key Laboratory of Precision and Intelligent Chemistry, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101917478","display_name":"Yahao Wang","orcid":"https://orcid.org/0000-0002-3323-4968"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210151738","display_name":"Precision Research (United States)","ror":"https://ror.org/04y784b90","country_code":"US","type":"company","lineage":["https://openalex.org/I4210151738"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Yahao Wang","raw_affiliation_strings":["Humanoid Robotics Institute, State Key Laboratory of Precision and Intelligent Chemistry, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, China","Humanoid Robotics Institute, State Key Laboratory of Precision and Intelligent Chemistry, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui, China"],"raw_orcid":"https://orcid.org/0000-0002-3323-4968","affiliations":[{"raw_affiliation_string":"Humanoid Robotics Institute, State Key Laboratory of Precision and Intelligent Chemistry, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I4210151738"]},{"raw_affiliation_string":"Humanoid Robotics Institute, State Key Laboratory of Precision and Intelligent Chemistry, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091526893","display_name":"Erbao Dong","orcid":"https://orcid.org/0000-0002-4062-9730"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210151738","display_name":"Precision Research (United States)","ror":"https://ror.org/04y784b90","country_code":"US","type":"company","lineage":["https://openalex.org/I4210151738"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Erbao Dong","raw_affiliation_strings":["Humanoid Robotics Institute, State Key Laboratory of Precision and Intelligent Chemistry, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, China","Humanoid Robotics Institute, State Key Laboratory of Precision and Intelligent Chemistry, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui, China"],"raw_orcid":"https://orcid.org/0000-0002-4062-9730","affiliations":[{"raw_affiliation_string":"Humanoid Robotics Institute, State Key Laboratory of Precision and Intelligent Chemistry, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I4210151738"]},{"raw_affiliation_string":"Humanoid Robotics Institute, State Key Laboratory of Precision and Intelligent Chemistry, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":null,"display_name":"Shiwu Zhang","orcid":"https://orcid.org/0000-0001-7118-7704"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I3018851911","display_name":"Institute of Precision Mechanics","ror":"https://ror.org/02bxtrk46","country_code":"PL","type":"facility","lineage":["https://openalex.org/I3018851911"]}],"countries":["CN","PL"],"is_corresponding":false,"raw_author_name":"Shiwu Zhang","raw_affiliation_strings":["Humanoid Robotics Institute, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, China","Humanoid Robotics Institute, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui, China"],"raw_orcid":"https://orcid.org/0000-0001-7118-7704","affiliations":[{"raw_affiliation_string":"Humanoid Robotics Institute, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I3018851911"]},{"raw_affiliation_string":"Humanoid Robotics Institute, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui, China","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5106550899"],"corresponding_institution_ids":["https://openalex.org/I126520041","https://openalex.org/I4210151738"],"apc_list":null,"apc_paid":null,"fwci":16.186,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.99196386,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"41","issue":null,"first_page":"1404","last_page":"1420"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9966999888420105,"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":0.9966999888420105,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9915000200271606,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9656999707221985,"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/robot","display_name":"Robot","score":0.6265484690666199},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6213973164558411},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5969293117523193},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5545512437820435},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5485473871231079},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5222542881965637},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4416595995426178},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.4207276701927185},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39898765087127686},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3381274938583374},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3091125190258026},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.11196032166481018},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08575618267059326},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.085391104221344}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6265484690666199},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6213973164558411},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5969293117523193},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5545512437820435},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5485473871231079},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5222542881965637},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4416595995426178},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.4207276701927185},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39898765087127686},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3381274938583374},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3091125190258026},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.11196032166481018},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08575618267059326},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.085391104221344},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3530345","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3530345","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":[{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W1571443838","https://openalex.org/W1998985813","https://openalex.org/W2033793863","https://openalex.org/W2049800084","https://openalex.org/W2064173399","https://openalex.org/W2073136132","https://openalex.org/W2078681999","https://openalex.org/W2093945540","https://openalex.org/W2139589383","https://openalex.org/W2247230765","https://openalex.org/W2295809278","https://openalex.org/W2509228421","https://openalex.org/W2514902888","https://openalex.org/W2743584770","https://openalex.org/W2754133402","https://openalex.org/W2785665096","https://openalex.org/W2789837488","https://openalex.org/W2885700861","https://openalex.org/W2889001675","https://openalex.org/W2897843872","https://openalex.org/W2908388255","https://openalex.org/W2955130115","https://openalex.org/W2964125168","https://openalex.org/W2971867595","https://openalex.org/W2972573494","https://openalex.org/W3002431443","https://openalex.org/W3026646268","https://openalex.org/W3030963096","https://openalex.org/W3034289395","https://openalex.org/W3112495733","https://openalex.org/W3112547781","https://openalex.org/W3115157241","https://openalex.org/W3160628339","https://openalex.org/W3163127521","https://openalex.org/W3179550756","https://openalex.org/W3188486176","https://openalex.org/W3190259769","https://openalex.org/W3191650487","https://openalex.org/W3209909665","https://openalex.org/W4200123921","https://openalex.org/W4206292436","https://openalex.org/W4213360733","https://openalex.org/W4226334784","https://openalex.org/W4226494925","https://openalex.org/W4301372664","https://openalex.org/W4313585351","https://openalex.org/W4367016637","https://openalex.org/W4381785626","https://openalex.org/W4386038399","https://openalex.org/W6695676441"],"related_works":["https://openalex.org/W3213331859","https://openalex.org/W4226458444","https://openalex.org/W4390637946","https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W4295916778","https://openalex.org/W2112995122","https://openalex.org/W2165087119"],"abstract_inverted_index":{"Aiming":[0],"at":[1],"the":[2,49,52,60,83,90,94,104,107,111,116,127,139,145,148,157,162],"robust":[3],"force":[4],"tracking":[5],"challenge":[6],"for":[7,63,126],"robots":[8],"in":[9,30,66,82,133,177,192],"continuous":[10],"contact":[11,101],"with":[12,69],"uncertain":[13,108],"environments,":[14],"a":[15,36,42],"novel":[16],"adaptive":[17],"variable":[18,43,84],"impedance":[19,44,64,85],"control":[20,164,174],"policy":[21,34,62,165],"based":[22],"on":[23,48,144],"deep":[24],"reinforcement":[25],"learning":[26,149],"(DRL)":[27],"is":[28,120,180],"proposed":[29,163,176],"this":[31,151,178],"article.":[32],"The":[33,73,173],"includes":[35],"neural":[37],"network":[38,54],"feedforward":[39,55,80],"controller":[40,56,87],"and":[41,58,106,159,169,183,189,194],"feedback":[45,86],"controller.":[46],"Based":[47],"DRL":[50],"algorithm,":[51],"iterative":[53],"explores":[57],"prelearns":[59],"optimal":[61],"tuning":[65],"simulation":[67,134],"scenarios":[68],"randomly":[70],"generated":[71],"terrain.":[72],"converged":[74],"results":[75],"are":[76],"then":[77],"used":[78],"as":[79],"inputs":[81],"to":[88,122,135],"improve":[89],"force-tracking":[91],"performance":[92],"of":[93,130,147,156,161],"robot":[95,105],"during":[96],"contact.":[97],"A":[98],"simplified":[99],"dynamic":[100],"model":[102],"between":[103],"environment":[109],"called":[110],"\u201ccouch":[112],"model,\u201d":[113],"which":[114],"satisfies":[115],"Lipschiz":[117],"continuity":[118],"condition,":[119],"developed":[121],"provide":[123],"boundary":[124],"conditions":[125],"safe":[128],"transfer":[129],"capabilities":[131],"learned":[132],"real":[136],"robots.":[137],"Unlike":[138],"exhaustive":[140],"example":[141],"that":[142],"relies":[143],"completeness":[146],"samples,":[150],"article":[152,179],"gives":[153],"theoretical":[154],"proofs":[155],"stability":[158],"convergence":[160],"via":[166],"Lyapunov\u2019s":[167],"theorem":[168],"contraction":[170],"mapping":[171],"principle.":[172],"method":[175],"more":[181],"interpretable":[182],"shows":[184],"higher":[185],"sample":[186],"utilization":[187],"efficiency":[188],"generalization":[190],"ability":[191],"simulations":[193],"experiments.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":11}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}
