{"id":"https://openalex.org/W2913393696","doi":"https://doi.org/10.1177/0278364919835605","title":"Aerial physical interaction via IDA-PBC","display_name":"Aerial physical interaction via IDA-PBC","publication_year":2019,"publication_date":"2019-03-17","ids":{"openalex":"https://openalex.org/W2913393696","doi":"https://doi.org/10.1177/0278364919835605","mag":"2913393696"},"language":"en","primary_location":{"id":"doi:10.1177/0278364919835605","is_oa":true,"landing_page_url":"https://doi.org/10.1177/0278364919835605","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1177/0278364919835605","source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"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":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://journals.sagepub.com/doi/pdf/10.1177/0278364919835605","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5089197093","display_name":"Burak Y\u00fcksel","orcid":null},"institutions":[{"id":"https://openalex.org/I4210112925","display_name":"Max Planck Institute for Biological Cybernetics","ror":"https://ror.org/026nmvv73","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210112925"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Burak Y\u00fcksel","raw_affiliation_strings":["Max Planck Institute for Biological Cybernetics, T\u00fcbingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Biological Cybernetics, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210112925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032100434","display_name":"Cristian Secchi","orcid":"https://orcid.org/0000-0002-2098-0099"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Cristian Secchi","raw_affiliation_strings":["Universiy of Modena and Reggio Emilia, Reggio Emilia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universiy of Modena and Reggio Emilia, Reggio Emilia, Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000138876","display_name":"HH B\u00fclthoff","orcid":"https://orcid.org/0000-0003-2568-0607"},"institutions":[{"id":"https://openalex.org/I4210112925","display_name":"Max Planck Institute for Biological Cybernetics","ror":"https://ror.org/026nmvv73","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210112925"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Heinrich H. B\u00fclthoff","raw_affiliation_strings":["Max Planck Institute for Biological Cybernetics, T\u00fcbingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Biological Cybernetics, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210112925"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001771133","display_name":"Antonio Franchi","orcid":"https://orcid.org/0000-0002-5670-1282"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Antonio Franchi","raw_affiliation_strings":["LAAS-CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France"],"raw_orcid":"https://orcid.org/0000-0002-5670-1282","affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5089197093"],"corresponding_institution_ids":["https://openalex.org/I4210112925"],"apc_list":null,"apc_paid":null,"fwci":2.6978,"has_fulltext":true,"cited_by_count":37,"citation_normalized_percentile":{"value":0.90087909,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"38","issue":"4","first_page":"403","last_page":"421"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994000196456909,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994000196456909,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9980999827384949,"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":0.9944000244140625,"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/robustness","display_name":"Robustness (evolution)","score":0.7009721994400024},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7003533244132996},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.6315592527389526},{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.5807356834411621},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5126463770866394},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.49825119972229004},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4908788800239563},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.49063053727149963},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4354780614376068},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.43314066529273987},{"id":"https://openalex.org/keywords/interconnection","display_name":"Interconnection","score":0.4224543869495392},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4128100872039795},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3980158865451813},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2649431824684143},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25425809621810913},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.10647028684616089}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7009721994400024},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7003533244132996},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.6315592527389526},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.5807356834411621},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5126463770866394},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.49825119972229004},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4908788800239563},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.49063053727149963},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4354780614376068},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.43314066529273987},{"id":"https://openalex.org/C123745756","wikidata":"https://www.wikidata.org/wiki/Q1665949","display_name":"Interconnection","level":2,"score":0.4224543869495392},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4128100872039795},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3980158865451813},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2649431824684143},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25425809621810913},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.10647028684616089},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1177/0278364919835605","is_oa":true,"landing_page_url":"https://doi.org/10.1177/0278364919835605","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1177/0278364919835605","source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"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":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-01964753v1","is_oa":false,"landing_page_url":"https://laas.hal.science/hal-01964753","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"The International Journal of Robotics Research, 2019, 38 (4), pp.403-421. &#x27E8;10.1177/0278364919835605&#x27E9;","raw_type":"Journal articles"},{"id":"pmh:oai:iris.unimore.it:11380/1175729","is_oa":true,"landing_page_url":"http://hdl.handle.net/11380/1175729","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:iris.uniroma1.it:11573/1688574","is_oa":false,"landing_page_url":"https://hdl.handle.net/11573/1688574","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1177/0278364919835605","is_oa":true,"landing_page_url":"https://doi.org/10.1177/0278364919835605","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1177/0278364919835605","source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"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":"The International Journal of Robotics Research","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G673690519","display_name":null,"funder_award_id":"644271","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W2913393696.pdf"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W127505597","https://openalex.org/W1256176189","https://openalex.org/W1530121035","https://openalex.org/W1541193115","https://openalex.org/W1548148540","https://openalex.org/W1560270123","https://openalex.org/W1619551699","https://openalex.org/W1963840845","https://openalex.org/W1972286093","https://openalex.org/W2003493718","https://openalex.org/W2021101383","https://openalex.org/W2027333285","https://openalex.org/W2028492326","https://openalex.org/W2038200309","https://openalex.org/W2042272901","https://openalex.org/W2048253740","https://openalex.org/W2050592409","https://openalex.org/W2055913619","https://openalex.org/W2057607924","https://openalex.org/W2071808624","https://openalex.org/W2077981455","https://openalex.org/W2080129711","https://openalex.org/W2093626735","https://openalex.org/W2095477585","https://openalex.org/W2095571137","https://openalex.org/W2115106602","https://openalex.org/W2119599739","https://openalex.org/W2161633403","https://openalex.org/W2167808181","https://openalex.org/W2223055204","https://openalex.org/W2291994225","https://openalex.org/W2486694803","https://openalex.org/W2604407501","https://openalex.org/W2885069741","https://openalex.org/W4242530792","https://openalex.org/W4292408404"],"related_works":["https://openalex.org/W3011780955","https://openalex.org/W2079584318","https://openalex.org/W41446018","https://openalex.org/W2807593021","https://openalex.org/W1553869462","https://openalex.org/W3119152702","https://openalex.org/W1585494168","https://openalex.org/W2990736200","https://openalex.org/W3140486956","https://openalex.org/W2360661724"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"the":[3,22,40,53,56,64,79,85,91,111,121,125,157],"use":[4,92],"of":[5,39,55,63,78,93,101,110,137],"a":[6,29,94,127,138,145,162],"novel":[7],"control":[8,16,86],"method":[9,66,114],"based":[10],"on":[11],"interconnection":[12],"and":[13,99,108,156],"damping":[14],"assignment\u2013passivity-based":[15],"(IDA-PBC)":[17],"in":[18,44,124],"order":[19,45],"to":[20,46,69,83,148],"address":[21],"aerial":[23,32],"physical":[24,37],"interaction":[25,57],"(APhI)":[26],"problem":[27],"for":[28,120],"quadrotor":[30,41,146,159],"unmanned":[31],"vehicle":[33],"(UAV).":[34],"The":[35,61,75,106],"apparent":[36],"properties":[38],"are":[42,104,143],"reshaped":[43],"achieve":[47],"better":[48],"APhI":[49,113],"performances,":[50],"while":[51,151],"ensuring":[52],"stability":[54],"through":[58,117],"passivity":[59],"preservation.":[60],"robustness":[62],"IDA-PBC":[65],"with":[67,90,161],"respect":[68],"sensor":[70,133],"noise":[71],"is":[72,88,115,134],"also":[73],"analyzed.":[74],"direct":[76],"measurement":[77],"external":[80,149],"wrench,":[81],"needed":[82],"implement":[84],"method,":[87],"compared":[89],"nonlinear":[95],"Lyapunov-based":[96],"wrench":[97],"observer":[98],"advantages/disadvantages":[100],"both":[102],"methods":[103],"discussed.":[105],"validity":[107],"practicability":[109],"proposed":[112],"evaluated":[116],"experiments,":[118],"where":[119],"first":[122],"time":[123],"literature,":[126],"lightweight":[128],"all-in-one":[129],"low-cost":[130],"force/torque":[131],"(F/T)":[132],"used":[135],"onboard":[136],"quadrotor.":[139],"Two":[140],"main":[141],"scenarios":[142],"shown:":[144],"responding":[147],"disturbances":[150],"hovering":[152],"(physical":[153],"human\u2013quadrotor":[154],"interaction),":[155],"same":[158],"sliding":[160],"rigid":[163],"tool":[164],"along":[165],"an":[166],"uneven":[167],"ceiling":[168],"surface":[169],"(inspection/painting-like":[170],"task).":[171]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3}],"updated_date":"2026-06-05T09:01:59.212387","created_date":"2019-02-21T00:00:00"}
