{"id":"https://openalex.org/W2373264926","doi":"https://doi.org/10.1177/0959651816643668","title":"Fuzzy coordinated control of contact constraint problem for robot system with compliant actuators","display_name":"Fuzzy coordinated control of contact constraint problem for robot system with compliant actuators","publication_year":2016,"publication_date":"2016-05-11","ids":{"openalex":"https://openalex.org/W2373264926","doi":"https://doi.org/10.1177/0959651816643668","mag":"2373264926"},"language":"en","primary_location":{"id":"doi:10.1177/0959651816643668","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651816643668","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"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":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","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/A5007734155","display_name":"Dunwen Wei","orcid":"https://orcid.org/0000-0001-8281-9703"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dunwen Wei","raw_affiliation_strings":["School of Mechanical Engineering, Northwestern Polytechnical University, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Northwestern Polytechnical University, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102706491","display_name":"Wenjie Ge","orcid":"https://orcid.org/0000-0002-2845-7307"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wenjie Ge","raw_affiliation_strings":["School of Mechanical Engineering, Northwestern Polytechnical University, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Northwestern Polytechnical University, China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5102706491"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.03502215,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"230","issue":"7","first_page":"640","last_page":"650"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9955000281333923,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9937000274658203,"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/controllability","display_name":"Controllability","score":0.8490036129951477},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7961504459381104},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6861316561698914},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6408536434173584},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.6203473806381226},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6160747408866882},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5341097116470337},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5250125527381897},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5151418447494507},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.5042523145675659},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4739677608013153},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31640496850013733},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27741217613220215},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2169097363948822},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20972561836242676},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.059178680181503296}],"concepts":[{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.8490036129951477},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7961504459381104},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6861316561698914},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6408536434173584},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.6203473806381226},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6160747408866882},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5341097116470337},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5250125527381897},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5151418447494507},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.5042523145675659},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4739677608013153},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31640496850013733},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27741217613220215},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2169097363948822},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20972561836242676},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.059178680181503296},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0959651816643668","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651816643668","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"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":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5299999713897705,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1526120274","https://openalex.org/W1532520544","https://openalex.org/W1970107898","https://openalex.org/W1995213905","https://openalex.org/W1996869048","https://openalex.org/W2006336431","https://openalex.org/W2008022682","https://openalex.org/W2017239762","https://openalex.org/W2017514441","https://openalex.org/W2034965730","https://openalex.org/W2037411059","https://openalex.org/W2047124601","https://openalex.org/W2069883135","https://openalex.org/W2070401204","https://openalex.org/W2073136132","https://openalex.org/W2092853118","https://openalex.org/W2096003909","https://openalex.org/W2102762991","https://openalex.org/W2106336670","https://openalex.org/W2109668512","https://openalex.org/W2115699238","https://openalex.org/W2126858469","https://openalex.org/W2131063775","https://openalex.org/W2142382640","https://openalex.org/W2142522221","https://openalex.org/W2150024155","https://openalex.org/W2151740711","https://openalex.org/W2156218502","https://openalex.org/W2159216507","https://openalex.org/W2166537923","https://openalex.org/W2168508189","https://openalex.org/W2169100281","https://openalex.org/W2171130677","https://openalex.org/W2294898062","https://openalex.org/W2295584263","https://openalex.org/W2604213426","https://openalex.org/W3148166280","https://openalex.org/W4233227660","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2036697162","https://openalex.org/W2332386680","https://openalex.org/W2561315646","https://openalex.org/W2248621902","https://openalex.org/W2003779889","https://openalex.org/W4205698120","https://openalex.org/W4239246781","https://openalex.org/W2542825942","https://openalex.org/W3201620972","https://openalex.org/W4322731072"],"abstract_inverted_index":{"A":[0],"robot":[1,23],"system":[2,24],"would":[3],"inevitably":[4],"cause":[5],"unpredictable":[6],"collisions":[7],"in":[8,64],"an":[9],"unknown":[10],"or":[11,61,86],"unstructured":[12],"environment.":[13],"In":[14,41],"this":[15],"paper,":[16],"the":[17,34,45,56,72,94,97,100,113,132],"controllability":[18,47,101],"conditions":[19,102],"of":[20,58,74,99],"a":[21,59],"general":[22],"with":[25,71,90,105,131],"compliant":[26],"actuators":[27],"are":[28],"proposed":[29,46,68,133],"to":[30,43,69,103,123,127],"judge":[31],"and":[32,121,125],"assess":[33],"contact":[35,75,106,128],"constraints":[36,129],"based":[37],"on":[38],"Port-based":[39],"Hamiltonian.":[40],"order":[42],"satisfy":[44],"conditions,":[48],"one":[49],"fuzzy":[50,114],"coordinated":[51,115],"control":[52,82],"method":[53,78],"inspired":[54],"from":[55],"pathfinding":[57],"blind":[60],"normal":[62],"person":[63],"dark":[65],"environment":[66],"is":[67],"deal":[70,104],"problem":[73],"constraint.":[76],"This":[77],"achieves":[79],"velocity\u2013torque":[80],"combined":[81],"without":[83],"using":[84],"force":[85],"vision":[87],"sensors":[88],"compared":[89,130],"conventional":[91],"methods.":[92],"Finally,":[93],"experiments":[95],"validate":[96],"feasibility":[98],"constraint":[107],"problems.":[108],"The":[109],"results":[110],"show":[111],"that":[112],"controller":[116],"can":[117],"work":[118],"more":[119],"efficiently":[120],"effectively":[122],"detect":[124],"respond":[126],"proportional":[134],"control.":[135]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}