{"id":"https://openalex.org/W3184051729","doi":"https://doi.org/10.23919/acc50511.2021.9482845","title":"Biologically-Inspired Impedance Control With Hysteretic Damping","display_name":"Biologically-Inspired Impedance Control With Hysteretic Damping","publication_year":2021,"publication_date":"2021-05-25","ids":{"openalex":"https://openalex.org/W3184051729","doi":"https://doi.org/10.23919/acc50511.2021.9482845","mag":"3184051729"},"language":"en","primary_location":{"id":"doi:10.23919/acc50511.2021.9482845","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9482845","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 American Control Conference (ACC)","raw_type":"proceedings-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/A5041174932","display_name":"Nicolas Brissonneau","orcid":"https://orcid.org/0000-0001-9536-658X"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Nicolas Brissonneau","raw_affiliation_strings":["Department of Mechanical Engineering, University of Texas at Austin, Austin, TX"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Texas at Austin, Austin, TX","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034900394","display_name":"Binghan He","orcid":"https://orcid.org/0000-0002-6598-9070"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Binghan He","raw_affiliation_strings":["Department of Mechanical Engineering, University of Texas at Austin, Austin, TX"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Texas at Austin, Austin, TX","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003716751","display_name":"Gray C. Thomas","orcid":"https://orcid.org/0000-0003-4466-3466"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gray C. Thomas","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Michigan, Ann Arbor, MI"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079374033","display_name":"Luis Sentis","orcid":"https://orcid.org/0000-0003-2856-4863"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luis Sentis","raw_affiliation_strings":["Department of Aerospace Engineering & Engineering Mechanics, University of Texas at Austin, Austin, TX"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering & Engineering Mechanics, University of Texas at Austin, Austin, TX","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5041174932"],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.08579075,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"678","last_page":"683"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9977999925613403,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9977999925613403,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9973000288009644,"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/T11236","display_name":"Control Systems and Identification","score":0.9965999722480774,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.6776790022850037},{"id":"https://openalex.org/keywords/hysteresis","display_name":"Hysteresis","score":0.6087789535522461},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5318298935890198},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3689208924770355},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.34968650341033936},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.34627765417099},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.33883902430534363},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32640689611434937},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23867148160934448},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.2142781913280487},{"id":"https://openalex.org/keywords/condensed-matter-physics","display_name":"Condensed matter physics","score":0.10397955775260925},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09414932131767273}],"concepts":[{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.6776790022850037},{"id":"https://openalex.org/C123299182","wikidata":"https://www.wikidata.org/wiki/Q190837","display_name":"Hysteresis","level":2,"score":0.6087789535522461},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5318298935890198},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3689208924770355},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.34968650341033936},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.34627765417099},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.33883902430534363},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32640689611434937},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23867148160934448},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.2142781913280487},{"id":"https://openalex.org/C26873012","wikidata":"https://www.wikidata.org/wiki/Q214781","display_name":"Condensed matter physics","level":1,"score":0.10397955775260925},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09414932131767273}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc50511.2021.9482845","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9482845","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1869269386","display_name":null,"funder_award_id":"1724360","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3886415718","display_name":null,"funder_award_id":"N000141512507","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G5901657900","display_name":null,"funder_award_id":"NNX15AQ33H","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W234738007","https://openalex.org/W1516447630","https://openalex.org/W1579773745","https://openalex.org/W1968249394","https://openalex.org/W1995268953","https://openalex.org/W2017085291","https://openalex.org/W2049774879","https://openalex.org/W2067603665","https://openalex.org/W2100541914","https://openalex.org/W2110943512","https://openalex.org/W2111898076","https://openalex.org/W2140525274","https://openalex.org/W2149258119","https://openalex.org/W2489288835","https://openalex.org/W2606752376","https://openalex.org/W2734863203","https://openalex.org/W2898809686","https://openalex.org/W2919502534","https://openalex.org/W3042270951","https://openalex.org/W3088424094","https://openalex.org/W3105548641","https://openalex.org/W4256152864","https://openalex.org/W4256153703"],"related_works":["https://openalex.org/W2899703592","https://openalex.org/W1982160337","https://openalex.org/W1971380437","https://openalex.org/W1983548084","https://openalex.org/W2141691317","https://openalex.org/W2110846987","https://openalex.org/W3128948325","https://openalex.org/W2160609742","https://openalex.org/W2979526210","https://openalex.org/W3123452979"],"abstract_inverted_index":{"Recent":[0],"experiments":[1],"have":[2],"shown":[3],"that":[4,65,78,84,102,115,149],"human":[5,39,50],"joints":[6],"can":[7,22,155],"maintain":[8],"a":[9,14,29,43,54,68,80,140],"constant":[10],"damping":[11],"ratio":[12],"across":[13],"wide":[15],"range":[16],"of":[17,28,37,57,97],"external":[18],"loads.":[19],"This":[20,62],"behavior":[21,51,154],"be":[23,156],"explained":[24],"by":[25],"the":[26,35,38,74,86,104,128,135,146,150],"use":[27],"\u201ccomplex":[30],"stiffness\u201d":[31],"frequency-domain":[32,81],"model":[33,56,71,89,101],"approximating":[34],"impedance":[36],"joint.":[40],"However,":[41],"for":[42,145],"robot":[44],"to":[45,106],"replicate":[46],"this":[47,58,98,116],"naturally":[48],"beneficial":[49],"would":[52],"require":[53],"time-domain":[55,70,100],"nonlinear":[59,69,99],"joint":[60],"impedance.":[61],"paper":[63],"demonstrates":[64],"there":[66],"exists":[67],"(originally":[72],"from":[73],"structural":[75],"mechanics":[76],"community)":[77],"has":[79,119],"\u201cdescribing":[82],"function\u201d":[83],"matches":[85],"complex":[87],"stiffness":[88],"observed":[90],"in":[91,139,158],"humans.":[92],"We":[93],"provide":[94],"an":[95,125],"extension":[96],"removes":[103],"need":[105],"implement":[107],"hard-switching":[108],"control":[109,132,138],"input.":[110],"In":[111],"addition,":[112],"we":[113,143],"demonstrate":[114,144],"proportional-and-hysteretic-damping":[117,137],"controller":[118],"inertia-invariant":[120],"overshoot":[121],"and":[122],"therefore":[123],"offers":[124],"advantage":[126],"over":[127],"more":[129],"common":[130],"proportional-derivative":[131],"approach.":[133],"Implementing":[134],"proposed":[136],"single-joint":[141],"test-robot,":[142],"first":[147],"time":[148],"desired":[151],"frequency":[152],"domain":[153],"reproduced":[157],"practice.":[159]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
