The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Stable execution of contact tasks using impedance control
Abstract
This paper presents an experimental evaluation of the performance of a nonlinear robot control algorithm on a contact task involving free motion, constrained motion and transitions between the two. The algorithm is an implementation of impedance control which uses end-point force feedback. Stable control of the force exerted on a rigid surface is achieved without recourse to a soft sensor. Motion control is achieved without inverse kinematic computations. It is unnecessary to switch between different modes of control at the moment of contact as the impedance controller is competent in all phases of the task.
Overview
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Verification
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
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
Self-citation
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
Tactile sensing and control of robotic manipulation
Howe, R. D. (1993) · Advanced Robotics · doi:10.1163/156855394x00356 · Cited by 305
Metadata
- Authors
- Hogan, N.
- Venue
- Proceedings. 1987 IEEE International Conference on Robotics and Automation
- Published
- 2005-03-23
- Volume
- 4
- Pages
- 1047-1054
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2164450398
- Cited by
- 427
- References
- 1
- FWCI
- 33.28
- Type
- conference paper
- Language
- en
- Open access
- closed
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
How to cite
Cite CoChat for the checks on this page, and the paper for its own findings.
- This page
- CoChat. (2026). Citation check: Stable execution of contact tasks using impedance control. https://app.cochat.ai/papers/10.1109/robot.1987.1087854
- The paper
- Hogan, N. (2005). Stable execution of contact tasks using impedance control. Proceedings. 1987 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/robot.1987.1087854
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.
