The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Hybrid impedance control of robotic manipulators
Abstract
The inclusion of force information in the control of robots increases their adaptability to uncertain environments, such as are found in deburring, grinding, and assembly tasks. The authors present a foundation for force control strategies, in view of the fact that the type of control strategy that is employed depends fundamentally on the characteristics of the environment. A general control approach is introduced, called hybrid impedance control which in its simplest forms reduces the operational space control of O. Khatib and J. Burdick (1986), or to N. Hogan's (1985) impedance control. The control law is formulated in a general enough fashion, however, to allow for higher order controllers.>
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Citations
Cites
Impedance Control: An Approach to Manipulation: Part I—Theory
Hogan, N. (1985) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3140702 · Cited by 3,673
Cited by
Force Tracking Impedance Control of Robot Manipulators Under Unknown Environment
Jung, S., Hsia, T. C., & Bonitz, R. G. (2004) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2004.824320 · Cited by 478
Metadata
- Authors
- Anderson, R. J., & Spong, M. W.
- Venue
- IEEE Journal on Robotics and Automation
- Published
- 1988
- Volume
- 4
- Issue
- 5
- Pages
- 549-556
- ISSN
- 0882-4967 (ISSN-L)
- OpenAlex
- W2105360813
- Cited by
- 421
- References
- 1
- FWCI
- 8.93
- Type
- journal article
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: Hybrid impedance control of robotic manipulators. https://app.cochat.ai/papers/10.1109/56.20440
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- Anderson, R. J., & Spong, M. W. (1988). Hybrid impedance control of robotic manipulators. IEEE Journal on Robotics and Automation. https://doi.org/10.1109/56.20440
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
