{"id":"https://openalex.org/W2800550879","doi":"https://doi.org/10.1177/0142331218762272","title":"A novel force-velocity field for object manipulation with a model-free cooperative controller","display_name":"A novel force-velocity field for object manipulation with a model-free cooperative controller","publication_year":2018,"publication_date":"2018-05-09","ids":{"openalex":"https://openalex.org/W2800550879","doi":"https://doi.org/10.1177/0142331218762272","mag":"2800550879"},"language":"en","primary_location":{"id":"doi:10.1177/0142331218762272","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0142331218762272","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","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/A5038586394","display_name":"Aldo Jonathan Mu\u00f1oz\u2010V\u00e1zquez","orcid":"https://orcid.org/0000-0001-5125-2644"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Aldo-Jonathan Mu\u00f1oz\u2013V\u00e1zquez","raw_affiliation_strings":["Polytechnic University of Victoria (UPV), Ciudad Victoria, Mexico"],"affiliations":[{"raw_affiliation_string":"Polytechnic University of Victoria (UPV), Ciudad Victoria, Mexico","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028434777","display_name":"Vicente Parra\u2010Vega","orcid":"https://orcid.org/0000-0002-1813-0394"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Center for Research and Advanced Studies of the National Polytechnic Institute","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Vicente Parra\u2013Vega","raw_affiliation_strings":["Research Center for Advanced Studies (CINVESTAV), Saltillo, Mexico"],"affiliations":[{"raw_affiliation_string":"Research Center for Advanced Studies (CINVESTAV), Saltillo, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003237228","display_name":"A. Sanchez","orcid":"https://orcid.org/0000-0002-6553-1641"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Center for Research and Advanced Studies of the National Polytechnic Institute","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Anand S\u00e1nchez\u2013Orta","raw_affiliation_strings":["Research Center for Advanced Studies (CINVESTAV), Saltillo, Mexico"],"affiliations":[{"raw_affiliation_string":"Research Center for Advanced Studies (CINVESTAV), Saltillo, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079888861","display_name":"Francisco J. Ruiz-Sanchez","orcid":"https://orcid.org/0000-0002-4053-7932"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Center for Research and Advanced Studies of the National Polytechnic Institute","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Francisco Ruiz\u2013S\u00e1nchez","raw_affiliation_strings":["Research Center for Advanced Studies (CINVESTAV), Saltillo, Mexico"],"affiliations":[{"raw_affiliation_string":"Research Center for Advanced Studies (CINVESTAV), Saltillo, Mexico","institution_ids":["https://openalex.org/I68368234"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5038586394"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7357,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.71136089,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"41","issue":"2","first_page":"573","last_page":"581"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/grasp","display_name":"GRASP","score":0.8288565874099731},{"id":"https://openalex.org/keywords/orthogonalization","display_name":"Orthogonalization","score":0.7419304251670837},{"id":"https://openalex.org/keywords/holonomic-constraints","display_name":"Holonomic constraints","score":0.6772462129592896},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6570842862129211},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5744646787643433},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.48867276310920715},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4870002865791321},{"id":"https://openalex.org/keywords/rigid-body-dynamics","display_name":"Rigid body dynamics","score":0.47801268100738525},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.47342637181282043},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.46111583709716797},{"id":"https://openalex.org/keywords/vector-field","display_name":"Vector field","score":0.454193651676178},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4443507194519043},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.42625489830970764},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4246547818183899},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.37495118379592896},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25435739755630493},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.25411689281463623},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20653235912322998},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19946101307868958},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18082177639007568},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.12684348225593567},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.0952599048614502}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8288565874099731},{"id":"https://openalex.org/C47559304","wikidata":"https://www.wikidata.org/wiki/Q1702189","display_name":"Orthogonalization","level":2,"score":0.7419304251670837},{"id":"https://openalex.org/C116721078","wikidata":"https://www.wikidata.org/wiki/Q1048005","display_name":"Holonomic constraints","level":2,"score":0.6772462129592896},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6570842862129211},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5744646787643433},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.48867276310920715},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4870002865791321},{"id":"https://openalex.org/C28461519","wikidata":"https://www.wikidata.org/wiki/Q2037529","display_name":"Rigid body dynamics","level":3,"score":0.47801268100738525},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.47342637181282043},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.46111583709716797},{"id":"https://openalex.org/C91188154","wikidata":"https://www.wikidata.org/wiki/Q186247","display_name":"Vector field","level":2,"score":0.454193651676178},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4443507194519043},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.42625489830970764},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4246547818183899},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.37495118379592896},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25435739755630493},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.25411689281463623},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20653235912322998},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19946101307868958},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18082177639007568},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.12684348225593567},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0952599048614502},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0142331218762272","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0142331218762272","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/17","score":0.4699999988079071,"display_name":"Partnerships for the goals"}],"awards":[{"id":"https://openalex.org/G2198140874","display_name":null,"funder_award_id":"133346 and 133544","funder_id":"https://openalex.org/F4320324348","funder_display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda, Guatemala"}],"funders":[{"id":"https://openalex.org/F4320321739","display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","ror":"https://ror.org/059ex5q34"},{"id":"https://openalex.org/F4320324348","display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda, Guatemala","ror":"https://ror.org/03pr08s76"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W392201878","https://openalex.org/W1509235676","https://openalex.org/W1893135903","https://openalex.org/W1988796327","https://openalex.org/W2004002924","https://openalex.org/W2009533892","https://openalex.org/W2028460806","https://openalex.org/W2033951865","https://openalex.org/W2053983794","https://openalex.org/W2062706881","https://openalex.org/W2065191031","https://openalex.org/W2079325629","https://openalex.org/W2091751180","https://openalex.org/W2093898644","https://openalex.org/W2103120971","https://openalex.org/W2105243105","https://openalex.org/W2113775715","https://openalex.org/W2115176207","https://openalex.org/W2123411906","https://openalex.org/W2127579677","https://openalex.org/W2131384020","https://openalex.org/W2140380216","https://openalex.org/W2157065490","https://openalex.org/W2159216507","https://openalex.org/W2167191443","https://openalex.org/W2170443298","https://openalex.org/W2180293407","https://openalex.org/W4239194948","https://openalex.org/W4251243658","https://openalex.org/W4254544711"],"related_works":["https://openalex.org/W2154502479","https://openalex.org/W1593123930","https://openalex.org/W2127776540","https://openalex.org/W2365582959","https://openalex.org/W2717412651","https://openalex.org/W2363850121","https://openalex.org/W2147349727","https://openalex.org/W2007583701","https://openalex.org/W1547662599","https://openalex.org/W2373060873"],"abstract_inverted_index":{"When":[0],"robots":[1],"grasp":[2,91],"a":[3,17,19,29,36,51,58],"rigid":[4],"object,":[5],"homogeneous":[6],"holonomic":[7],"constraints":[8],"give":[9],"rise":[10],"to":[11,64,83,110,133],"stiff":[12],"nonlinear":[13],"constrained":[14],"dynamics.":[15,126],"As":[16],"result,":[18],"smooth":[20],"motion":[21],"is":[22,54,108,131],"preferred":[23],"when":[24,42],"grasping":[25],"an":[26],"object":[27],"in":[28,81,94],"tight":[30],"but":[31],"gentle":[32],"manner,":[33],"making":[34],"it":[35],"difficult":[37],"control":[38],"problem":[39],"that":[40],"increases":[41],"uncertainties":[43,123],"and":[44,68,124],"unmodelled":[45],"dynamics":[46],"exist.":[47],"In":[48],"this":[49],"paper,":[50],"fuzzy":[52],"design":[53],"proposed":[55,72],"by":[56],"exploiting":[57],"physics-based":[59],"orthogonalization":[60],"of":[61,77,98,137],"contact":[62,93],"mechanics":[63],"produce":[65],"desired":[66],"velocity":[67,79],"force":[69,88],"fields.":[70],"The":[71],"scheme":[73],"enables":[74],"the":[75,78,87,95,99,104,135,138],"regulation":[76],"component":[80],"order":[82],"navigate":[84],"smoothly,":[85],"while":[86,115],"field":[89],"enforces":[90],"at":[92],"normal":[96],"direction":[97],"cooperative":[100],"joint-velocity":[101],"field.":[102],"Then,":[103],"robust":[105],"model-free":[106],"controller":[107],"designed":[109],"track":[111],"such":[112],"orthogonal":[113],"fields":[114],"enforcing":[116],"cooperation":[117],"among":[118],"all":[119],"robots,":[120],"even":[121],"under":[122],"unknown":[125],"A":[127],"representative":[128],"simulation":[129],"study":[130],"discussed":[132],"show":[134],"feasibility":[136],"proposal.":[139]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}