{"id":"https://openalex.org/W2029549805","doi":"https://doi.org/10.1145/2506095.2506097","title":"An Intelligent Indirect-Hybrid Force/Position Controller for Smooth and Accurate Tracking of Unknown Contours","display_name":"An Intelligent Indirect-Hybrid Force/Position Controller for Smooth and Accurate Tracking of Unknown Contours","publication_year":2013,"publication_date":"2013-07-04","ids":{"openalex":"https://openalex.org/W2029549805","doi":"https://doi.org/10.1145/2506095.2506097","mag":"2029549805"},"language":"en","primary_location":{"id":"doi:10.1145/2506095.2506097","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2506095.2506097","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of Conference on Advances In Robotics","raw_type":"proceedings-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/A5005924357","display_name":"Kamal Sharma","orcid":"https://orcid.org/0000-0003-1863-2949"},"institutions":[{"id":"https://openalex.org/I1329621470","display_name":"Bhabha Atomic Research Centre","ror":"https://ror.org/05w6wfp17","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1329621470","https://openalex.org/I2799351866","https://openalex.org/I3149292468"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Kamal Sharma","raw_affiliation_strings":["DRHR, BARC, Mumbai 91-022-25592125","DRHR, BARC, Mumbai 91-022-25592125#TAB#"],"affiliations":[{"raw_affiliation_string":"DRHR, BARC, Mumbai 91-022-25592125","institution_ids":[]},{"raw_affiliation_string":"DRHR, BARC, Mumbai 91-022-25592125#TAB#","institution_ids":["https://openalex.org/I1329621470"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055001734","display_name":"Varsha Shirwalkar","orcid":null},"institutions":[{"id":"https://openalex.org/I1329621470","display_name":"Bhabha Atomic Research Centre","ror":"https://ror.org/05w6wfp17","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1329621470","https://openalex.org/I2799351866","https://openalex.org/I3149292468"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Varsha Shirwalkar","raw_affiliation_strings":["DRHR, BARC, Mumbai 91-022-2559-5018"],"affiliations":[{"raw_affiliation_string":"DRHR, BARC, Mumbai 91-022-2559-5018","institution_ids":["https://openalex.org/I1329621470"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103476644","display_name":"Prabir Pal","orcid":null},"institutions":[{"id":"https://openalex.org/I1329621470","display_name":"Bhabha Atomic Research Centre","ror":"https://ror.org/05w6wfp17","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1329621470","https://openalex.org/I2799351866","https://openalex.org/I3149292468"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Prabir K. Pal","raw_affiliation_strings":["DRHR, BARC, Mumbai 91-022-2559-5019"],"affiliations":[{"raw_affiliation_string":"DRHR, BARC, Mumbai 91-022-2559-5019","institution_ids":["https://openalex.org/I1329621470"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5005924357"],"corresponding_institution_ids":["https://openalex.org/I1329621470"],"apc_list":null,"apc_paid":null,"fwci":1.0099,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.80402685,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9976000189781189,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9955000281333923,"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/computer-science","display_name":"Computer science","score":0.7715305089950562},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6406819224357605},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5853752493858337},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5735375285148621},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5337216854095459},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4795086681842804},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4489367604255676},{"id":"https://openalex.org/keywords/position-tracking","display_name":"Position tracking","score":0.44804489612579346},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1949598491191864},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.12309008836746216}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7715305089950562},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6406819224357605},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5853752493858337},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5735375285148621},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5337216854095459},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4795086681842804},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4489367604255676},{"id":"https://openalex.org/C3017729373","wikidata":"https://www.wikidata.org/wiki/Q30324728","display_name":"Position tracking","level":3,"score":0.44804489612579346},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1949598491191864},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.12309008836746216},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/2506095.2506097","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2506095.2506097","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of Conference on Advances In Robotics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1807400095","https://openalex.org/W2016958754","https://openalex.org/W2155409617","https://openalex.org/W2156567753","https://openalex.org/W2162946602","https://openalex.org/W2540920886","https://openalex.org/W2904481767"],"related_works":["https://openalex.org/W2064037938","https://openalex.org/W2262288569","https://openalex.org/W2671436869","https://openalex.org/W2056996588","https://openalex.org/W2095090092","https://openalex.org/W4382238619","https://openalex.org/W2935260230","https://openalex.org/W3126692184","https://openalex.org/W2173873792","https://openalex.org/W24060522"],"abstract_inverted_index":{"Various":[0],"robotic":[1,73],"tasks":[2],"(e.g.":[3],"polishing,":[4],"deburring":[5],"gluing,":[6],"etc.)":[7],"require":[8],"a":[9,19,43],"tool":[10,31,74,128],"to":[11,33,50,75,78,90,122,133,137,162],"be":[12,76],"moved":[13],"over":[14],"some":[15],"unknown":[16],"surface":[17,80],"with":[18,42,148],"constant":[20],"force":[21],"applied":[22],"as":[23,25,81,83,89],"well":[24,82],"keeping":[26],"the":[27,30,34,52,57,72,79,84,92,96,105,123,127,130,138,143,159,163,167,170,177,191],"orientation":[28],"of":[29,118,126,166],"normal":[32,77,136],"surface.":[35,139,168],"While":[36],"performing":[37],"such":[38,63],"fine":[39],"motion":[40],"control":[41],"position-controlled":[44],"industrial":[45],"robot,":[46],"it":[47,135],"is":[48,65,194],"required":[49],"sense":[51],"forces":[53,97],"and":[54,60,154,176],"accordingly":[55],"manipulate":[56],"robot":[58,131],"position":[59,86],"orientation.":[61],"One":[62],"approach":[64],"Indirect":[66],"Hybrid":[67],"Force/Position":[68],"Control":[69],"that":[70],"commands":[71],"next":[85],"command":[87],"so":[88],"trace":[91],"surface,":[93],"based":[94,156],"on":[95],"experienced.":[98],"In":[99],"this":[100],"paper,":[101],"two":[102],"improvements":[103],"for":[104,189],"Indirect-Hybrid":[106],"controller":[107],"are":[108,174,180],"devised.":[109],"The":[110,182],"first":[111],"improvement,":[112],"using":[113,151],"fully-active":[114],"sensing":[115],"in":[116,158],"place":[117],"semi-active":[119],"sensing,":[120],"leads":[121],"better":[124],"stability":[125],"when":[129],"tries":[132],"make":[134],"Another":[140],"improvement":[141],"replaces":[142],"unintelligent,":[144],"non-predictive":[145],"contour":[146,149],"tracking":[147,192],"prediction":[150],"interpolation,":[152],"regression":[153],"neural-network":[155],"techniques":[157],"controller,":[160],"leading":[161],"accurate":[164],"tracing":[165],"Finally":[169],"three":[171],"predictive":[172],"strategies":[173],"compared":[175],"experimental":[178],"results":[179],"demonstrated.":[181],"paper":[183],"concludes":[184],"by":[185],"presenting":[186],"an":[187],"application":[188],"which":[190],"algorithm":[193],"being":[195],"used.":[196]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}