{"id":"https://openalex.org/W1991139286","doi":"https://doi.org/10.1145/2506095.2506114","title":"Compliance Control of Tele-Robot","display_name":"Compliance Control of Tele-Robot","publication_year":2013,"publication_date":"2013-07-04","ids":{"openalex":"https://openalex.org/W1991139286","doi":"https://doi.org/10.1145/2506095.2506114","mag":"1991139286"},"language":"en","primary_location":{"id":"doi:10.1145/2506095.2506114","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2506095.2506114","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/A5073936931","display_name":"Teja Swaroop Tumapala","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":true,"raw_author_name":"Teja Swaroop Tumapala","raw_affiliation_strings":["Division of Remote Handling & Robotics, Bhabha Atomic Research Centre Mumbai, India 400 085","Division of Remote Handling & Robotics, Bhabha Atomic Research Centre Mumbai, India 400 085#TAB#"],"affiliations":[{"raw_affiliation_string":"Division of Remote Handling & Robotics, Bhabha Atomic Research Centre Mumbai, India 400 085","institution_ids":["https://openalex.org/I1329621470"]},{"raw_affiliation_string":"Division of Remote Handling & Robotics, Bhabha Atomic Research Centre Mumbai, India 400 085#TAB#","institution_ids":["https://openalex.org/I1329621470"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020129619","display_name":"Surendra Singh Saini","orcid":"https://orcid.org/0000-0002-7040-2879"},"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":"Surendra Singh Saini","raw_affiliation_strings":["Division of Remote Handling & Robotics, Bhabha Atomic Research Centre Mumbai, India 400 085","Division of Remote Handling & Robotics, Bhabha Atomic Research Centre Mumbai, India 400 085#TAB#"],"affiliations":[{"raw_affiliation_string":"Division of Remote Handling & Robotics, Bhabha Atomic Research Centre Mumbai, India 400 085","institution_ids":["https://openalex.org/I1329621470"]},{"raw_affiliation_string":"Division of Remote Handling & Robotics, Bhabha Atomic Research Centre Mumbai, India 400 085#TAB#","institution_ids":["https://openalex.org/I1329621470"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051802704","display_name":"Ushnish Sarkar","orcid":"https://orcid.org/0000-0002-2489-9538"},"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":"Ushnish Sarkar","raw_affiliation_strings":["Division of Remote Handling & Robotics, Bhabha Atomic Research Centre Mumbai, India 400 085","Division of Remote Handling & Robotics, Bhabha Atomic Research Centre Mumbai, India 400 085#TAB#"],"affiliations":[{"raw_affiliation_string":"Division of Remote Handling & Robotics, Bhabha Atomic Research Centre Mumbai, India 400 085","institution_ids":["https://openalex.org/I1329621470"]},{"raw_affiliation_string":"Division of Remote Handling & Robotics, Bhabha Atomic Research Centre Mumbai, India 400 085#TAB#","institution_ids":["https://openalex.org/I1329621470"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017656814","display_name":"Debashish Datta Ray","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":"Debashish Datta Ray","raw_affiliation_strings":["Division of Remote Handling & Robotics, Bhabha Atomic Research Centre Mumbai, India 400 085","Division of Remote Handling & Robotics, Bhabha Atomic Research Centre Mumbai, India 400 085#TAB#"],"affiliations":[{"raw_affiliation_string":"Division of Remote Handling & Robotics, Bhabha Atomic Research Centre Mumbai, India 400 085","institution_ids":["https://openalex.org/I1329621470"]},{"raw_affiliation_string":"Division of Remote Handling & Robotics, Bhabha Atomic Research Centre Mumbai, India 400 085#TAB#","institution_ids":["https://openalex.org/I1329621470"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5073936931"],"corresponding_institution_ids":["https://openalex.org/I1329621470"],"apc_list":null,"apc_paid":null,"fwci":1.0099,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.79666347,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"198","issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9995999932289124,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9991999864578247,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6990307569503784},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6045790314674377},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5856131315231323},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5753205418586731},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5220237374305725},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.4694387912750244},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.4685823619365692},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46215492486953735},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4537730813026428},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.43771716952323914},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.43581336736679077},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.42634329199790955},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.4139319360256195},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4137605130672455},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34040361642837524},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.228658527135849},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21801230311393738},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19146040081977844},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09225031733512878}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6990307569503784},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6045790314674377},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5856131315231323},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5753205418586731},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5220237374305725},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.4694387912750244},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.4685823619365692},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46215492486953735},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4537730813026428},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.43771716952323914},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.43581336736679077},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.42634329199790955},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.4139319360256195},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4137605130672455},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34040361642837524},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.228658527135849},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21801230311393738},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19146040081977844},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09225031733512878},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/2506095.2506114","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2506095.2506114","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":[{"id":"https://openalex.org/F4320329802","display_name":"Homi Bhabha National Institute","ror":"https://ror.org/02bv3zr67"},{"id":"https://openalex.org/F4320334966","display_name":"Bhabha Atomic Research Centre","ror":"https://ror.org/05w6wfp17"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1882755524","https://openalex.org/W1975225952","https://openalex.org/W1988882685","https://openalex.org/W2016958754","https://openalex.org/W2105360813","https://openalex.org/W2108840726","https://openalex.org/W2121693658","https://openalex.org/W2142813562","https://openalex.org/W2152740345","https://openalex.org/W3154408391","https://openalex.org/W4206380944"],"related_works":["https://openalex.org/W2365191442","https://openalex.org/W2570672926","https://openalex.org/W2491036639","https://openalex.org/W2348363276","https://openalex.org/W2359834440","https://openalex.org/W3086276429","https://openalex.org/W2374143010","https://openalex.org/W2390827194","https://openalex.org/W2903247355","https://openalex.org/W1976622387"],"abstract_inverted_index":{"Compliance":[0,168],"control":[1,37,91,101,236],"is":[2,38],"essential":[3],"for":[4,41,166,242],"tasks":[5,43,179,219],"involving":[6,97],"interaction":[7],"of":[8,31,102,114,189,216,237,245],"the":[9,12,29,52,63,81,90,103,112,129,132,167,187,190,193,209,213,230],"robot":[10],"with":[11,14],"environment":[13,64],"contact":[15,53,58],"forces":[16,59],"e.g.":[17],"sliding":[18],"on":[19,24,199],"an":[20,85],"inclined":[21],"plane,":[22],"drawing":[23],"a":[25,32,45,150,164,172,243],"rigid":[26],"surface,":[27],"opening":[28],"lid":[30],"box":[33],"etc.":[34],"Pure":[35],"position":[36,50,98,223,240],"not":[39],"sufficient":[40],"such":[42],"since":[44],"small":[46],"variation":[47],"in":[48,79,89,106,176,183],"relative":[49],"at":[51],"surface":[54],"may":[55,61,70],"generate":[56,135],"large":[57],"which":[60,127,220],"damage":[62],"or":[65,83],"manipulator":[66,104],"itself.":[67],"Compliant":[68],"motion":[69],"be":[71],"produced":[72],"either":[73],"by":[74,84,162,202],"passive":[75],"mechanical":[76],"compliance":[77,87],"built":[78],"to":[80,149,153,185],"manipulator,":[82],"active":[86],"implemented":[88,198],"servo":[92],"loop.":[93],"The":[94,157,205,226],"second":[95],"method,":[96],"and":[99,134,138,144,170,224,234,239],"force":[100,238],"end-effector":[105],"mutually":[107],"orthogonal":[108],"directions,":[109],"has":[110,124,159,195],"been":[111,125,160,181,197],"focus":[113],"this":[115,118],"work.":[116],"In":[117],"work":[119],"\"Compliance":[120],"Control":[121],"Algorithm\"":[122],"module":[123],"developed":[126,201],"takes":[128],"task":[130],"as":[131],"input":[133],"Position":[136],"Path":[137],"Force":[139],"Profile.":[140],"These":[141],"aforementioned":[142],"paths":[143],"profiles":[145],"are":[146],"further":[147],"given":[148],"Hybrid":[151],"Controller":[152],"achieve":[154],"compliant":[155],"motion.":[156],"algorithm":[158,169,194],"tested":[161],"developing":[163],"code":[165],"using":[171],"PUMA560\u00ae":[173],"dynamic":[174],"model":[175],"MATLAB\u00ae.":[177],"Selected":[178],"have":[180],"performed":[182],"simulation":[184],"evaluate":[186],"performance":[188],"algorithm.":[191],"Subsequently,":[192],"also":[196],"Tele--Robot,":[200],"DRHR,":[203],"BARC.":[204],"results":[206,227],"obtained":[207],"from":[208],"Tele-robot":[210],"system":[211],"indicate":[212],"successful":[214],"completion":[215],"some":[217],"planned":[218],"required":[221],"simultaneous":[222],"force-control.":[225],"show":[228],"that":[229],"method":[231],"achieves":[232],"stable":[233],"accurate":[235],"trajectories":[241],"variety":[244],"test":[246],"conditions.":[247]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}