{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,26]],"date-time":"2025-03-26T18:16:32Z","timestamp":1743012992933,"version":"3.40.3"},"publisher-location":"London","reference-count":15,"publisher":"Springer London","isbn-type":[{"type":"electronic","value":"9781447151029"}],"license":[{"start":{"date-parts":[[2013,1,1]],"date-time":"2013-01-01T00:00:00Z","timestamp":1356998400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2013]]},"DOI":"10.1007\/978-1-4471-5102-9_169-1","type":"book-chapter","created":{"date-parts":[[2014,5,26]],"date-time":"2014-05-26T07:35:48Z","timestamp":1401089748000},"page":"1-10","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Force Control in Robotics"],"prefix":"10.1007","author":[{"given":"Luigi","family":"Villani","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2014,4,4]]},"reference":[{"key":"169-1_CR1","doi-asserted-by":"publisher","first-page":"289","DOI":"10.1109\/70.760350","volume":"15","author":"F Caccavale","year":"1999","unstructured":"Caccavale F, Natale C, Siciliano B, Villani L (1999) Six-DOF impedance control based on angle\/axis representations. IEEE Trans Robot Autom 15:289\u2013300","journal-title":"IEEE Trans Robot Autom"},{"key":"169-1_CR2","doi-asserted-by":"publisher","first-page":"361","DOI":"10.1109\/70.246048","volume":"9","author":"S Chiaverini","year":"1993","unstructured":"Chiaverini S, Sciavicco L (1993) The parallel approach to force\/position control of robotic manipulators, IEEE Trans Robot Autom 9:361\u2013373","journal-title":"IEEE Trans Robot Autom"},{"key":"169-1_CR3","doi-asserted-by":"publisher","first-page":"647","DOI":"10.1109\/9.280780","volume":"39","author":"S Chiaverini","year":"1994","unstructured":"Chiaverini S, Siciliano B, Villani L (1994) Force\/position regulation of compliant robot manipulators. IEEE Trans Autom Control 39:647\u2013652","journal-title":"IEEE Trans Autom Control"},{"issue":"4","key":"169-1_CR4","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1177\/027836498800700401","volume":"7","author":"J De Schutter","year":"1988","unstructured":"De Schutter J, Van Brussel H (1988) Compliant robot motion I. A formalism for specifying compliant motion tasks. Int J Robot Res 7(4):3\u201317","journal-title":"A formalism for specifying compliant motion tasks. Int J Robot Res"},{"issue":"5","key":"169-1_CR5","doi-asserted-by":"publisher","first-page":"433","DOI":"10.1177\/027836490707809107","volume":"26","author":"J De Schutter","year":"2007","unstructured":"De Schutter J, De Laet T, Rutgeerts J, Decr\u00e9 W, Smits R, Aerbeli\u00ebn E, Claes K, Bruyninckx H (2007) Constraint-based task specification and estimation for sensor-based robot systems in the presence of geometric uncertainty. Int J Robot Res 26(5):433\u2013455","journal-title":"Int J Robot Res"},{"key":"169-1_CR6","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1115\/1.3140702","volume":"107","author":"N Hogan","year":"1985","unstructured":"Hogan N (1985) Impedance control: an approach to manipulation: parts I\u2013III. ASME J Dyn Syst Meas Control 107:1\u201324","journal-title":"ASME J Dyn Syst Meas Control"},{"key":"169-1_CR7","doi-asserted-by":"publisher","first-page":"43","DOI":"10.1109\/JRA.1987.1087068","volume":"3","author":"O Khatib","year":"1987","unstructured":"Khatib O (1987) A unified approach for motion and force control of robot manipulators: the operational space formulation. IEEE J Robot Autom 3:43\u201353","journal-title":"IEEE J Robot Autom"},{"key":"169-1_CR8","doi-asserted-by":"publisher","first-page":"418","DOI":"10.1109\/TSMC.1981.4308708","volume":"11","author":"MT Mason","year":"1981","unstructured":"Mason MT(1981) Compliance and force control for computer controlled manipulators. IEEE Trans Syst Man Cybern 11:418\u2013432","journal-title":"IEEE Trans Syst Man Cybern"},{"key":"169-1_CR9","doi-asserted-by":"publisher","first-page":"416","DOI":"10.1109\/TRO.2008.915438","volume":"24","author":"C Ott","year":"2008","unstructured":"Ott C, Albu-Schaeffer A, Kugi A, Hirzinger G (2008) On the passivity based impedance control of flexible joint robots. IEEE Trans Robot 24:416\u2013429","journal-title":"IEEE Trans Robot"},{"key":"169-1_CR10","doi-asserted-by":"publisher","first-page":"126","DOI":"10.1115\/1.3139652","volume":"103","author":"MH Raibert","year":"1981","unstructured":"Raibert MH, Craig JJ (1981) Hybrid position\/force control of manipulators. ASME J Dyn Syst Meas Control 103:126\u2013133","journal-title":"ASME J Dyn Syst Meas Control"},{"key":"169-1_CR11","doi-asserted-by":"crossref","unstructured":"Salisbury JK (1980) Active stiffness control of a manipulator in Cartesian coordinates. In: 19th IEEE conference on decision and control, Albuquerque, pp\u00a095\u2013100","DOI":"10.1109\/CDC.1980.272026"},{"key":"169-1_CR12","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-4431-9","volume-title":"Robot force control","author":"B Siciliano","year":"1999","unstructured":"Siciliano B, Villani L (1999) Robot force control. Kluwer, Boston"},{"key":"169-1_CR13","doi-asserted-by":"publisher","first-page":"161","DOI":"10.1007\/978-3-540-30301-5_8","volume-title":"Springer handbook of robotics","author":"L Villani","year":"2008","unstructured":"Villani L, De Schutter J (2008) Robot force control. In: Siciliano B, Khatib O (eds) Springer handbook of robotics. Springer, Berlin, pp\u00a0161\u2013185"},{"key":"169-1_CR14","doi-asserted-by":"publisher","first-page":"91","DOI":"10.1115\/1.3427095","volume":"99","author":"DE Whitney","year":"1977","unstructured":"Whitney DE (1977) Force feedback control of manipulator fine motions. ASME J Dyn Syst Meas Control 99:91\u201397","journal-title":"ASME J Dyn Syst Meas Control"},{"key":"169-1_CR15","doi-asserted-by":"publisher","first-page":"386","DOI":"10.1109\/JRA.1987.1087120","volume":"3","author":"T Yoshikawa","year":"1987","unstructured":"Yoshikawa T (1987) Dynamic hybrid position\/force control of robot manipulators \u2013 description of hand constraints and calculation of joint driving force. IEEE J Robot Autom 3:386\u2013392","journal-title":"IEEE J Robot Autom"}],"container-title":["Encyclopedia of Systems and Control"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-1-4471-5102-9_169-1","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,2,14]],"date-time":"2023-02-14T18:28:48Z","timestamp":1676399328000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-1-4471-5102-9_169-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013]]},"ISBN":["9781447151029"],"references-count":15,"URL":"https:\/\/doi.org\/10.1007\/978-1-4471-5102-9_169-1","relation":{},"subject":[],"published":{"date-parts":[[2013]]},"assertion":[{"value":"19 December 2013, 11:57:35","order":1,"name":"received","label":"Received","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"19 December 2013, 11:57:35","order":2,"name":"accepted","label":"Accepted","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"4 April 2014","order":3,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}}]}}