{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,6]],"date-time":"2026-05-06T12:44:50Z","timestamp":1778071490449,"version":"3.51.4"},"reference-count":32,"publisher":"Springer Science and Business Media LLC","issue":"3-4","license":[{"start":{"date-parts":[[2014,7,27]],"date-time":"2014-07-27T00:00:00Z","timestamp":1406419200000},"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":["J Intell Robot Syst"],"published-print":{"date-parts":[[2015,6]]},"DOI":"10.1007\/s10846-014-0082-1","type":"journal-article","created":{"date-parts":[[2014,7,26]],"date-time":"2014-07-26T15:15:05Z","timestamp":1406387705000},"page":"359-375","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":109,"title":["A Hybrid System Framework for Unified Impedance and Admittance Control"],"prefix":"10.1007","volume":"78","author":[{"given":"Christian","family":"Ott","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ranjan","family":"Mukherjee","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yoshihiko","family":"Nakamura","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2014,7,27]]},"reference":[{"key":"82_CR1","doi-asserted-by":"crossref","unstructured":"Aghili, F.: Robust impedance control of manipulators carrying a heavy payload. J. Dyn. Syst. Meas. Control, 132 (2010)","DOI":"10.1115\/1.4001898"},{"key":"82_CR2","unstructured":"An, C.H., Hollerbach, J.M.: Dynamic stability issues in force control of manipulators. In: IEEE International Conference on Robotics and Automation, pp. 890\u2013896 (1987)"},{"issue":"5","key":"82_CR3","doi-asserted-by":"crossref","first-page":"549","DOI":"10.1109\/56.20440","volume":"4","author":"RJ Anderson","year":"1988","unstructured":"Anderson, R.J., Spong, M.W.: Hybrid impedance control of robotic manipulators. IEEE Trans. Robot. Autom. 4 (5), 549\u2013556 (1988)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"82_CR4","doi-asserted-by":"crossref","unstructured":"Brogliato, B.: Nonsmooth Mechanics, 2nd edn. Springer (1999)","DOI":"10.1007\/978-1-4471-0557-2"},{"key":"82_CR5","doi-asserted-by":"crossref","unstructured":"Carignan, C.R., Smith, J.A.: Manipulator impedance accuracy in position-based impedance control implementations. In: IEEE International Conference on Robotics and Automation, pp 1216\u20131221 (1994)","DOI":"10.1109\/ROBOT.1994.351320"},{"key":"82_CR6","doi-asserted-by":"crossref","unstructured":"Cheng, G., Hyon, S.-H., Morimoto, J., Ude, A., Colvin, G., Scroggin, W., Jacobsen, SC.: Cb: A humanoid research platform for exploring neuroscience. In: HUMANOIDS (2006)","DOI":"10.1109\/ICHR.2006.321382"},{"key":"82_CR7","doi-asserted-by":"crossref","first-page":"242","DOI":"10.1109\/TCST.2008.924570","volume":"17","author":"T Das","year":"2009","unstructured":"Das, T., Mukherjee, R.: Shared-sensing and control using reversible transducers. IEEE Trans. Control Syst. Tech. 17, 242\u2013248 (2009)","journal-title":"IEEE Trans. Control Syst. Tech."},{"key":"82_CR8","doi-asserted-by":"crossref","unstructured":"Eppinger, S.D., Seering, W.P.: Understanding bandwidth limitations in robot force control. In: IEEE International Conference on Robotics and Automation, pp. 904\u2013909 (1987)","DOI":"10.1109\/ROBOT.1987.1087932"},{"key":"82_CR9","doi-asserted-by":"crossref","unstructured":"Ferretti, G., Magnani, G.A., Rocco, P., Cecconello, F., Rossetti, G.: Impedance control for industrial robots. In: IEEE International Conference on Robotics and Automation, pp. 4027\u20134032 (2000)","DOI":"10.1109\/ROBOT.2000.845359"},{"key":"82_CR10","unstructured":"Gantmacher, F.R.: The Theory of Matrices, vol. 1, pp. 239\u2013241. Chelsea Publishing (1959)"},{"key":"82_CR11","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1115\/1.3140702","volume":"107","author":"N Hogan","year":"1985","unstructured":"Hogan, N.: Impedance control: An approach to manipulation, part I - theory. ASME J. Dyn. Syst. Meas. Control 107, 1\u20137 (1985)","journal-title":"ASME J. Dyn. Syst. Meas. Control"},{"key":"82_CR12","doi-asserted-by":"crossref","first-page":"8","DOI":"10.1115\/1.3140713","volume":"107","author":"N Hogan","year":"1985","unstructured":"Hogan, N.: Impedance control: An approach to manipulation, part II - implementation. ASME J. Dyn. Syst. Meas. Control 107, 8\u201316 (1985)","journal-title":"ASME J. Dyn. Syst. Meas. Control"},{"key":"82_CR13","doi-asserted-by":"crossref","first-page":"17","DOI":"10.1115\/1.3140701","volume":"107","author":"N Hogan","year":"1985","unstructured":"Hogan, N.: Impedance control: An approach to manipulation, part III - applications. ASME J. Dyn. Syst. Meas. Control 107, 17\u201324 (1985)","journal-title":"ASME J. Dyn. Syst. Meas. Control"},{"key":"82_CR14","unstructured":"Horn, R.A., Johnson, C.R.: Matrix Analysis. Cambridge University Press (1990)"},{"issue":"3","key":"82_CR15","doi-asserted-by":"crossref","first-page":"282","DOI":"10.1109\/TMECH.2008.2005524","volume":"14","author":"S-H Kang","year":"2009","unstructured":"Kang, S.-H., Jin, M., Chang, P.-H.: A solution to the accuracy\/robustness dilemma in impedance control. IEEE\/ASME Trans. Mechatron. 14 (3), 282\u20132934 (2009)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"82_CR16","doi-asserted-by":"crossref","unstructured":"Lawrence, D.A.: Impedance control stability properties in common implementations. In: IEEE International Conference on Robotics and Automation, pp. 1185\u20131190 (1988)","DOI":"10.1109\/ROBOT.1988.12222"},{"key":"82_CR17","doi-asserted-by":"crossref","unstructured":"Liberzon, D., Morse, A.S.: Basic problems in stability of switched systems. IEEE Control Syst. Mag., 59\u201370 (1999)","DOI":"10.1109\/37.793443"},{"key":"82_CR18","doi-asserted-by":"crossref","unstructured":"Liu, G.J., Goldenberg, A.A.: Robust hybrid impedance control of robot manipulators. In: IEEE International Conference on Robotics and Automation, pp. 287\u2013292 (1991)","DOI":"10.1109\/ROBOT.1991.131589"},{"key":"82_CR19","doi-asserted-by":"crossref","first-page":"408","DOI":"10.1109\/70.88152","volume":"7","author":"WS Lu","year":"1991","unstructured":"Lu, W.S., Meng, Q.H.: Impedance control with adaptation for robotic manipulations. IEEE Trans. Robot. Autom. 7, 408\u2013415 (1991)","journal-title":"IEEE Trans. Robot. Autom."},{"issue":"6","key":"82_CR20","doi-asserted-by":"crossref","first-page":"418","DOI":"10.1109\/TSMC.1981.4308708","volume":"11","author":"MT Mason","year":"1981","unstructured":"Mason, M.T.: Compliance and force control for computer controlled manipulators. IEEE Trans. Syst. Man Cybern. 11 (6), 418\u2013432 (1981)","journal-title":"IEEE Trans. Syst. Man Cybern."},{"key":"82_CR21","doi-asserted-by":"crossref","unstructured":"Ott, C., Eiberger, O., Friedl, W., B\u00e4uml, B., Hillenbrand, U., Borst, C., Albu-Sch\u00e4ffer, A., Brunner, B., Hirschm\u00fcller, H., Kielh\u00f6fer, S., Konietschke, R., Suppa, M., Wimb\u00f6ck, T., Zacharias, F., Hirzinger, G.: A humanoid two-arm system for dexterous manipulation. In: IEEE-RAS International Conference on Humanoid Robots, pp. 276\u2013283 (2006)","DOI":"10.1109\/ICHR.2006.321397"},{"key":"82_CR22","doi-asserted-by":"crossref","first-page":"563","DOI":"10.1115\/1.2897725","volume":"114","author":"WS Newman","year":"1992","unstructured":"Newman, W.S.: Stability and performance limits of interaction controllers. J. Dyn. Syst. Meas. Control 114, 563\u2013570 (1992)","journal-title":"J. Dyn. Syst. Meas. Control"},{"key":"82_CR23","doi-asserted-by":"crossref","unstructured":"Ott, C., Mukherjee, R., Nakamura, Y.: Unified impedance and admittance control. In: IEEE International Conference on Robotics and Automation, pp. 554\u2013561 (2010)","DOI":"10.1109\/ROBOT.2010.5509861"},{"key":"82_CR24","doi-asserted-by":"crossref","unstructured":"Pelletier, M., Doyon, M.: On the implementation and performance of impedance control on position controlled robots. In: IEEE International Conference on Robotics and Automation, pp. 1228\u20131233 (1994)","DOI":"10.1109\/ROBOT.1994.351318"},{"key":"82_CR25","doi-asserted-by":"crossref","first-page":"126","DOI":"10.1115\/1.3139652","volume":"105","author":"MH Raibert","year":"1981","unstructured":"Raibert, M.H., Craig, J.J.: Hybrid position\/force control of manipulators. ASME J. Dyn. Syst. Meas. Control 105, 126\u2013133 (1981)","journal-title":"ASME J. Dyn. Syst. Meas. Control"},{"issue":"2","key":"82_CR26","doi-asserted-by":"crossref","first-page":"121","DOI":"10.1109\/TRA.2002.999642","volume":"18","author":"J Roy","year":"2002","unstructured":"Roy, J., Whitcomb, LL.: Adaptive force control of position\/velocity controlled robots: Theory and experiment. IEEE Trans. Robot. Autom. 18 (2), 121\u2013137 (2002)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"82_CR27","doi-asserted-by":"crossref","unstructured":"Salisbury, J.K.: Active stiffness control of a manipulator in cartesian coordinates. In: Proceedings of the IEEE Conference on Decision and Control, pp. 383\u2013388 (1980)","DOI":"10.1109\/CDC.1980.272026"},{"key":"82_CR28","doi-asserted-by":"crossref","unstructured":"Seraji, H.: Adaptive admittance control: An approach to explicit force control in compliant motion. In: IEEE International Conference on Robotics and Automation, pp. 2705\u20132712 (1994)","DOI":"10.1109\/ROBOT.1994.350927"},{"key":"82_CR29","doi-asserted-by":"crossref","unstructured":"Siciliano, B., Khatib, O. (eds.): Handbook of Robotics. Springer, Berlin \/ Heidelberg (2008)","DOI":"10.1007\/978-3-540-30301-5"},{"key":"82_CR30","doi-asserted-by":"crossref","unstructured":"Slotine, J.-J.E., Li, W.: Adaptive manipulator control: A case study. In: IEEE International Conference on Robotics and Automation, pp. 1392\u20131400 (1987)","DOI":"10.1109\/ROBOT.1987.1087895"},{"key":"82_CR31","doi-asserted-by":"crossref","unstructured":"Surdilovic, D., Kirchhof, J.: A new position based force\/impedance control for industrial robots. In: IEEE International Conference on Robotics and Automation, pp. 629\u2013634 (1996)","DOI":"10.1109\/ROBOT.1996.503845"},{"key":"82_CR32","doi-asserted-by":"crossref","first-page":"310","DOI":"10.1115\/1.1590685","volume":"125","author":"T Valency","year":"2003","unstructured":"Valency, T., Zacksenhouse, M.: Accuracy\/robustness dilemma in impedance control. ASME J. Dyn. Syst. Meas. Control 125, 310\u2013319 (2003)","journal-title":"ASME J. Dyn. Syst. Meas. Control"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-014-0082-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-014-0082-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-014-0082-1","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,13]],"date-time":"2019-08-13T02:34:52Z","timestamp":1565663692000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-014-0082-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,7,27]]},"references-count":32,"journal-issue":{"issue":"3-4","published-print":{"date-parts":[[2015,6]]}},"alternative-id":["82"],"URL":"https:\/\/doi.org\/10.1007\/s10846-014-0082-1","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,7,27]]}}}