{"id":"https://openalex.org/W2042809874","doi":"https://doi.org/10.1177/027836499501400604","title":"The Equivalence of Second-Order Impedance Control and Proportional Gain Explicit Force Control","display_name":"The Equivalence of Second-Order Impedance Control and Proportional Gain Explicit Force Control","publication_year":1995,"publication_date":"1995-12-01","ids":{"openalex":"https://openalex.org/W2042809874","doi":"https://doi.org/10.1177/027836499501400604","mag":"2042809874"},"language":"en","primary_location":{"id":"doi:10.1177/027836499501400604","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499501400604","pdf_url":null,"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048439981","display_name":"R. Volpe","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Richard Volpe","raw_affiliation_strings":["Jet Propulsion Laboratory California Institute of Technology Pasadena, California 91109","*Jet Propulsion Laboratory/California Institute of Technology, Pasadena, California 91109"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory California Institute of Technology Pasadena, California 91109","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"*Jet Propulsion Laboratory/California Institute of Technology, Pasadena, California 91109","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103573531","display_name":"Pradeep K. Khosla","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pradeep Khosla","raw_affiliation_strings":["Department of Electrical and Computer Engineering The Robotics Institute Carnegie Mellon University Pittsburgh, Pennsylvania, 15213"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering The Robotics Institute Carnegie Mellon University Pittsburgh, Pennsylvania, 15213","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5048439981"],"corresponding_institution_ids":["https://openalex.org/I122411786","https://openalex.org/I1334627681"],"apc_list":null,"apc_paid":null,"fwci":1.6467,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.83909381,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"14","issue":"6","first_page":"574","last_page":"589"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9986000061035156,"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":0.994700014591217,"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/feed-forward","display_name":"Feed forward","score":0.7591314315795898},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7548706531524658},{"id":"https://openalex.org/keywords/equivalence","display_name":"Equivalence (formal languages)","score":0.7303497791290283},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6283421516418457},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5933725237846375},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5223987102508545},{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"Mechanical impedance","score":0.474016010761261},{"id":"https://openalex.org/keywords/proportional-control","display_name":"Proportional control","score":0.46475258469581604},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3972609341144562},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.33900633454322815},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.33335059881210327},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.29064494371414185},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2603657841682434},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2577298581600189},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.058141738176345825},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.0569176971912384}],"concepts":[{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.7591314315795898},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7548706531524658},{"id":"https://openalex.org/C2780069185","wikidata":"https://www.wikidata.org/wiki/Q7977945","display_name":"Equivalence (formal languages)","level":2,"score":0.7303497791290283},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6283421516418457},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5933725237846375},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5223987102508545},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.474016010761261},{"id":"https://openalex.org/C96224696","wikidata":"https://www.wikidata.org/wiki/Q2043486","display_name":"Proportional control","level":3,"score":0.46475258469581604},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3972609341144562},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.33900633454322815},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.33335059881210327},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.29064494371414185},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2603657841682434},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2577298581600189},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.058141738176345825},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.0569176971912384},{"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1177/027836499501400604","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499501400604","pdf_url":null,"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:repository.cmu.edu:isr-1570","is_oa":false,"landing_page_url":"http://repository.cmu.edu/cgi/viewcontent.cgi?article=1570&context=isr","pdf_url":null,"source":{"id":"https://openalex.org/S4306400668","display_name":"Research Showcase @ Carnegie Mellon University (Carnegie Mellon University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74973139","host_organization_name":"Carnegie Mellon University","host_organization_lineage":["https://openalex.org/I74973139"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Institute for Software Research","raw_type":"text"},{"id":"pmh:doi:10.1184/r1/6624869","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":null,"raw_type":"Journal contribution"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.46.5921","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.46.5921","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/pub2/volpe_r_1995_1/volpe_r_1995_1.ps.gz","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.6600000262260437}],"awards":[],"funders":[{"id":"https://openalex.org/F4320310207","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1588741926","https://openalex.org/W1926347822","https://openalex.org/W1951296436","https://openalex.org/W1967377907","https://openalex.org/W1973227728","https://openalex.org/W1993906720","https://openalex.org/W2006813793","https://openalex.org/W2009392722","https://openalex.org/W2040510104","https://openalex.org/W2096816790","https://openalex.org/W2103120971","https://openalex.org/W2105015109","https://openalex.org/W2105176401","https://openalex.org/W2105360813","https://openalex.org/W2105660272","https://openalex.org/W2107122120","https://openalex.org/W2115597004","https://openalex.org/W2116176144","https://openalex.org/W2123671628","https://openalex.org/W2132294818","https://openalex.org/W2134743926","https://openalex.org/W2149187245","https://openalex.org/W2155829031","https://openalex.org/W2164450398","https://openalex.org/W2490168164","https://openalex.org/W3003414503","https://openalex.org/W3148444946"],"related_works":["https://openalex.org/W2011737899","https://openalex.org/W2105126143","https://openalex.org/W4308480823","https://openalex.org/W2573068166","https://openalex.org/W1992974134","https://openalex.org/W2904885586","https://openalex.org/W1910603216","https://openalex.org/W3003109530","https://openalex.org/W4229014760","https://openalex.org/W2133595155"],"abstract_inverted_index":{"This":[0,22],"article":[1],"discusses":[2],"the":[3,46,59,64,74,83,86],"essential":[4],"equivalence":[5],"of":[6,58,66,69,85],"second-order":[7],"impedance":[8,98],"control":[9,18,30,71,96],"with":[10,19,100],"force":[11,17,20,95,111],"feedback":[12],"and":[13,32,97,101],"proportional":[14,93],"gain":[15,94],"explicit":[16],"feedforward.":[21],"is":[23,48,61],"first":[24],"done":[25],"analytically":[26],"by":[27],"reviewing":[28],"each":[29],"method":[31],"showing":[33],"how":[34],"they":[35],"mathematically":[36],"correspond":[37],"for":[38,52],"constrained":[39],"manipula":[40],"tor":[41],"control.":[42],"For":[43],"stiff":[44],"environments":[45],"correspondence":[47],"exact.":[49],"However,":[50],"even":[51],"softer":[53],"environments,":[54],"a":[55],"similar":[56],"response":[57,108],"system":[60],"indicated.":[62],"Next,":[63],"results":[65,89],"an":[67],"implementation":[68],"these":[70],"schemes":[72],"on":[73],"CMU":[75],"DD":[76],"Arm":[77],"II":[78],"are":[79],"pre":[80],"sented,":[81],"confirming":[82],"predictions":[84],"analysis.":[87],"These":[88],"experimentally":[90],"demonstrate":[91],"that":[92],"control,":[99],"without":[102],"dynamics":[103],"compensa":[104],"tion,":[105],"have":[106],"equivalent":[107],"to":[109],"commanded":[110],"trajectories.":[112]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}