{"id":"https://openalex.org/W4400966525","doi":"https://doi.org/10.1177/02783649241249194","title":"Unified force-impedance control","display_name":"Unified force-impedance control","publication_year":2024,"publication_date":"2024-07-23","ids":{"openalex":"https://openalex.org/W4400966525","doi":"https://doi.org/10.1177/02783649241249194"},"language":"en","primary_location":{"id":"doi:10.1177/02783649241249194","is_oa":true,"landing_page_url":"https://doi.org/10.1177/02783649241249194","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1177/02783649241249194","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":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","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":"hybrid","oa_url":"https://journals.sagepub.com/doi/pdf/10.1177/02783649241249194","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030977955","display_name":"Erfan Shahriari","orcid":"https://orcid.org/0000-0002-2980-135X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Erfan Shahriari","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5024171209"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":7.0187,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.981614,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"43","issue":"13","first_page":"2112","last_page":"2141"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9993000030517578,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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":0.9758999943733215,"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/impedance-control","display_name":"Impedance control","score":0.7910388708114624},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.7733191847801208},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6997465491294861},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6975308656692505},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.6516549587249756},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6256828904151917},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5824033617973328},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5621567964553833},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5551146864891052},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5302507281303406},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5230844020843506},{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"Mechanical impedance","score":0.47578322887420654},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4603547751903534},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45797252655029297},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42528748512268066},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3842158317565918},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13339018821716309},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.13037577271461487},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11389049887657166}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.7910388708114624},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.7733191847801208},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6997465491294861},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6975308656692505},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.6516549587249756},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6256828904151917},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5824033617973328},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5621567964553833},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5551146864891052},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5302507281303406},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5230844020843506},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.47578322887420654},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4603547751903534},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45797252655029297},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42528748512268066},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3842158317565918},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13339018821716309},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13037577271461487},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11389049887657166},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783649241249194","is_oa":true,"landing_page_url":"https://doi.org/10.1177/02783649241249194","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1177/02783649241249194","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":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1177/02783649241249194","is_oa":true,"landing_page_url":"https://doi.org/10.1177/02783649241249194","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1177/02783649241249194","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":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","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/G2845085986","display_name":null,"funder_award_id":"5140951","funder_id":"https://openalex.org/F4320331012","funder_display_name":"Bayerische Staatsministerium f\u00fcr Wirtschaft, Landesentwicklung und Energie"}],"funders":[{"id":"https://openalex.org/F4320323223","display_name":"Alfried Krupp von Bohlen und Halbach-Stiftung","ror":"https://ror.org/04y7h3604"},{"id":"https://openalex.org/F4320331012","display_name":"Bayerische Staatsministerium f\u00fcr Wirtschaft, Landesentwicklung und Energie","ror":null}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4400966525.pdf"},"referenced_works_count":83,"referenced_works":["https://openalex.org/W72772543","https://openalex.org/W655386398","https://openalex.org/W1134107867","https://openalex.org/W1541925238","https://openalex.org/W1547293905","https://openalex.org/W1578038264","https://openalex.org/W1593833093","https://openalex.org/W1858298306","https://openalex.org/W1967377907","https://openalex.org/W1995090200","https://openalex.org/W1997520484","https://openalex.org/W2016958754","https://openalex.org/W2023080842","https://openalex.org/W2027661541","https://openalex.org/W2034052310","https://openalex.org/W2039907488","https://openalex.org/W2040808731","https://openalex.org/W2042809874","https://openalex.org/W2043739434","https://openalex.org/W2043831253","https://openalex.org/W2045554378","https://openalex.org/W2056156187","https://openalex.org/W2057538835","https://openalex.org/W2066379939","https://openalex.org/W2068347015","https://openalex.org/W2071935905","https://openalex.org/W2081817101","https://openalex.org/W2082761088","https://openalex.org/W2084828843","https://openalex.org/W2091271588","https://openalex.org/W2097446805","https://openalex.org/W2099689618","https://openalex.org/W2104181254","https://openalex.org/W2104275118","https://openalex.org/W2105360813","https://openalex.org/W2105660272","https://openalex.org/W2107799372","https://openalex.org/W2112474089","https://openalex.org/W2116822311","https://openalex.org/W2121693658","https://openalex.org/W2122739526","https://openalex.org/W2131666656","https://openalex.org/W2139177566","https://openalex.org/W2142281964","https://openalex.org/W2144556291","https://openalex.org/W2147240540","https://openalex.org/W2147497258","https://openalex.org/W2149175962","https://openalex.org/W2150024155","https://openalex.org/W2150367199","https://openalex.org/W2151802001","https://openalex.org/W2153631465","https://openalex.org/W2154786710","https://openalex.org/W2156102255","https://openalex.org/W2159569668","https://openalex.org/W2165092969","https://openalex.org/W2166211466","https://openalex.org/W2166277106","https://openalex.org/W2169440744","https://openalex.org/W2296039882","https://openalex.org/W2517245806","https://openalex.org/W2517641405","https://openalex.org/W2682866729","https://openalex.org/W2738201010","https://openalex.org/W2773752100","https://openalex.org/W2782580911","https://openalex.org/W2794235589","https://openalex.org/W2885923137","https://openalex.org/W2966945592","https://openalex.org/W2985093159","https://openalex.org/W2986851775","https://openalex.org/W3112830500","https://openalex.org/W3113128756","https://openalex.org/W3159731978","https://openalex.org/W3160173994","https://openalex.org/W4205852817","https://openalex.org/W4214570817","https://openalex.org/W4242073862","https://openalex.org/W4250391287","https://openalex.org/W4285040080","https://openalex.org/W4285283404","https://openalex.org/W4285307466","https://openalex.org/W4381198924"],"related_works":["https://openalex.org/W3131110707","https://openalex.org/W2716370379","https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2052513766","https://openalex.org/W2097006611","https://openalex.org/W4308797310","https://openalex.org/W2063510546","https://openalex.org/W4229014760"],"abstract_inverted_index":{"Unified":[0],"force-impedance":[1],"control":[2,11],"(UFIC)":[3],"aims":[4],"at":[5],"integrating":[6],"the":[7,34,68,105,124,145,153],"advantages":[8],"of":[9,104,109,115,123],"impedance":[10,117],"and":[12,16,38,44,75,100,118,130,141,172],"force":[13,18,56,61,119],"control.":[14,120],"Compliance":[15],"exact":[17],"regulation":[19,148],"are":[20,73],"equally":[21],"important":[22],"abilities":[23],"in":[24,64,107,128,137],"modern":[25],"robot":[26],"manipulation.":[27],"The":[28,121],"developed":[29],"passivity-based":[30],"framework":[31],"builds":[32],"on":[33,89],"energy":[35],"tank":[36],"concept":[37],"is":[39,49,86,126],"suitable":[40],"for":[41,80],"serial":[42],"rigid":[43],"flexible-joint":[45],"robots.":[46],"Furthermore,":[47],"it":[48],"able":[50],"to":[51,77],"deal":[52],"either":[53],"with":[54],"direct":[55],"measurements":[57],"or":[58],"model-based":[59],"contact":[60,110],"estimation.":[62],"Thus,":[63],"this":[65,159],"theoretical":[66,164],"framework,":[67,167],"most":[69],"relevant":[70],"practical":[71],"systems":[72],"covered":[74],"shown":[76,127],"be":[78],"stable":[79],"arbitrary":[81],"passive":[82],"environments.":[83],"Particular":[84],"focus":[85],"also":[87],"laid":[88],"a":[90,112,162],"robust":[91],"impedance-based":[92],"contact/non-contact":[93],"stabilization":[94],"methodology":[95],"that":[96],"prevents":[97],"abrupt,":[98],"unwanted,":[99],"potentially":[101],"dangerous":[102],"movements":[103],"manipulator":[106],"case":[108],"loss,":[111],"well-known":[113],"problem":[114],"both":[116],"validity":[122],"approach":[125],"simulation":[129],"through":[131],"various":[132],"experiments.":[133],"Our":[134],"work":[135],"roots":[136],"Haddadin":[138,142],"(2015);":[139],"Schindlbeck":[140],"(2015),":[143],"where":[144],"basic":[146],"UFIC":[147,165],"controller":[149],"was":[150],"proposed.":[151],"In":[152],"present":[154],"paper,":[155],"we":[156],"significantly":[157],"advance":[158],"idea":[160],"into":[161],"complete":[163],"tracking":[166],"including":[168],"rigorous":[169],"stability":[170],"analysis":[171],"extensive":[173],"experimental":[174],"evidence.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":26}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}