{"id":"https://openalex.org/W2115921653","doi":"https://doi.org/10.23919/acc.2004.1384685","title":"On position tracking in bilateral teleoperation","display_name":"On position tracking in bilateral teleoperation","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2115921653","doi":"https://doi.org/10.23919/acc.2004.1384685","mag":"2115921653"},"language":"en","primary_location":{"id":"doi:10.23919/acc.2004.1384685","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2004.1384685","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2004 American Control Conference","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/A5033439822","display_name":"Nikhil Chopra","orcid":"https://orcid.org/0000-0002-5365-293X"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"N. Chopra","raw_affiliation_strings":["Coordinated Science Laboratory University of Illinois, IL, USA","Coordinated Science Laboratory, University of Illinois, Urbana-Champaign, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory University of Illinois, IL, USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Coordinated Science Laboratory, University of Illinois, Urbana-Champaign, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079586632","display_name":"Mark W. Spong","orcid":"https://orcid.org/0000-0003-4626-2295"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M.W. Spong","raw_affiliation_strings":["Coordinated Science Laboratory University of Illinois, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory University of Illinois, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006475297","display_name":"Rom\u00e9o Ortega","orcid":"https://orcid.org/0000-0002-7747-5405"},"institutions":[{"id":"https://openalex.org/I102475099","display_name":"Sup\u00e9lec","ror":"https://ror.org/00n7gwn90","country_code":"FR","type":"education","lineage":["https://openalex.org/I102475099"]},{"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"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"R. Ortega","raw_affiliation_strings":["LSS/CNRS/Sup\u00e9lec, Gif Sur Yvette Cedex, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LSS/CNRS/Sup\u00e9lec, Gif Sur Yvette Cedex, France","institution_ids":["https://openalex.org/I102475099","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038576809","display_name":"Nikita Barabanov","orcid":"https://orcid.org/0000-0003-2131-1572"},"institutions":[{"id":"https://openalex.org/I41518628","display_name":"Saint Petersburg State Electrotechnical University","ror":"https://ror.org/023bq8521","country_code":"RU","type":"education","lineage":["https://openalex.org/I41518628"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"N.E. Barabanov","raw_affiliation_strings":["Department of Software Engineering, Electrotechnical University, St. Petersburg, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Software Engineering, Electrotechnical University, St. Petersburg, Russia","institution_ids":["https://openalex.org/I41518628"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":13.7698,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.9915286,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5244","last_page":"5249 vol.6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9609000086784363,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9319999814033508,"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/teleoperation","display_name":"Teleoperation","score":0.9589263200759888},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.7660057544708252},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7633785009384155},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6158003807067871},{"id":"https://openalex.org/keywords/master/slave","display_name":"Master/slave","score":0.5809767246246338},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.5470564961433411},{"id":"https://openalex.org/keywords/position-tracking","display_name":"Position tracking","score":0.5422729849815369},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5246781706809998},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4847845435142517},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4636674225330353},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4601711630821228},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4528336524963379},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.45275306701660156},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45128753781318665},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4158935546875},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3557952642440796},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.350334107875824},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27281713485717773},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22438538074493408},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19312730431556702},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08770710229873657}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9589263200759888},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.7660057544708252},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7633785009384155},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6158003807067871},{"id":"https://openalex.org/C20454292","wikidata":"https://www.wikidata.org/wiki/Q735523","display_name":"Master/slave","level":2,"score":0.5809767246246338},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.5470564961433411},{"id":"https://openalex.org/C3017729373","wikidata":"https://www.wikidata.org/wiki/Q30324728","display_name":"Position tracking","level":3,"score":0.5422729849815369},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5246781706809998},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4847845435142517},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4636674225330353},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4601711630821228},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4528336524963379},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.45275306701660156},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45128753781318665},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4158935546875},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3557952642440796},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.350334107875824},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27281713485717773},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22438538074493408},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19312730431556702},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08770710229873657},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc.2004.1384685","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2004.1384685","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2004 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7200000286102295}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2039893232","https://openalex.org/W2104163581","https://openalex.org/W2109609092","https://openalex.org/W2124237013","https://openalex.org/W2135464393","https://openalex.org/W2143226297","https://openalex.org/W2147828027","https://openalex.org/W2168986517","https://openalex.org/W2170667102","https://openalex.org/W2171715699","https://openalex.org/W2561111412","https://openalex.org/W3142057176"],"related_works":["https://openalex.org/W2090171584","https://openalex.org/W2141321389","https://openalex.org/W2063905323","https://openalex.org/W2126456812","https://openalex.org/W2099914424","https://openalex.org/W2914607567","https://openalex.org/W3207600904","https://openalex.org/W4390338938","https://openalex.org/W2017331141","https://openalex.org/W2101849315"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,25,69,81,93,96,101,118,121],"problem":[4,54],"of":[5,47,95,111,120],"position":[6,35,77,97],"tracking":[7,36],"in":[8,24,37,55],"bilateral":[9,16],"teleoperation.":[10],"Passivity":[11],"based":[12,72],"control":[13,78,98],"schemes":[14],"for":[15],"teleoperation":[17],"provide":[18],"robust":[19],"stability":[20,87],"against":[21],"network":[22],"delays":[23],"feedback":[26],"loop":[27],"and":[28,45,83,103],"velocity":[29],"tracking,":[30],"but":[31],"do":[32],"not":[33],"guarantee":[34],"general.":[38],"Position":[39],"drift":[40],"due":[41],"to":[42,91],"environment":[43],"contact":[44],"offset":[46],"initial":[48],"conditions":[49],"is":[50],"a":[51,63,109],"well":[52],"known":[53],"such":[56],"systems.":[57],"In":[58],"this":[59],"paper,":[60],"we":[61],"introduce":[62],"new":[64],"architecture":[65],"which":[66],"builds":[67],"upon":[68],"traditional":[70],"passivity":[71],"configuration":[73],"by":[74],"using":[75,108],"additional":[76],"on":[79,100],"both":[80],"master":[82,102],"slave":[84,104],"robots.":[85],"Lyapunov":[86],"methods":[88],"are":[89,115],"used":[90],"establish":[92],"range":[94],"gains":[99],"side.":[105],"Simulation":[106],"results":[107],"single-degree":[110],"freedom":[112],"master/slave":[113],"system":[114],"presented":[116],"showing":[117],"performance":[119],"resulting":[122],"system.":[123]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
