{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:06:15Z","timestamp":1777716375034,"version":"3.51.4"},"reference-count":18,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[1988,8,1]],"date-time":"1988-08-01T00:00:00Z","timestamp":586396800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1988,8]]},"abstract":"<jats:p>A control approach for the execution of robot tasks in contact with the environment is worked out. The input to the con troller consists of the task specification described in part I. The control approach is based on external force and tracking loops, which are closed around the robot positioning system. The position control loops tend to decouple and linearize the complex robot dynamics, and therefore they present to the external controllers a system which is easy to model and easy to control. Design and properties of external control loops are discussed in great detail. In particular, the role of a passive compliance with respect to task execution speed and distur bance rejection is analyzed both qualitatively and quantita tively. The resulting compliant motion controller has been tested experimentally, and proved to be very robust and to yield the theoretically expected performance.<\/jats:p>","DOI":"10.1177\/027836498800700402","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"18-33","source":"Crossref","is-referenced-by-count":236,"title":["Compliant Robot Motion II. A Control Approach Based on External Control Loops"],"prefix":"10.1177","volume":"7","author":[{"given":"J.","family":"De Schutter","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering Katholieke Universiteit Leuven Celestijnenlaan 300B B-3030 Heverlee, Belgium"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"H.","family":"Van Brussel","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Katholieke Universiteit Leuven Celestijnenlaan 300B B-3030 Heverlee, Belgium"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1988,8,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"crossref","unstructured":"De Schutter, J. 1987. A study of active compliant motion control methods for rigid manipulators based on a generic scheme. Proc. IEEE Conf. on Robotics and Automation, pp. 1060-1065. Washington: IEEE Computer Society Press.","DOI":"10.1109\/ROBOT.1987.1087856"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1980.4308347"},{"key":"atypb3","volume-title":"Proc. IFAC Symp. on Real Time Digital Control Applications","author":"Hirzinger, G."},{"key":"atypb4","doi-asserted-by":"crossref","unstructured":"Hirzinger, G., and Landzettel, K. 1985. Sensory feedback structures for robots with supervised learning. Proc. IEEE Conf. on Robotics and Automation, pp. 627-635. Washington : IEEE Computer Society Press.","DOI":"10.1109\/ROBOT.1985.1087345"},{"key":"atypb5","first-page":"165","author":"Khatib, O.","year":"1985","journal-title":"Industrial Robot"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087068"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1109\/PROC.1983.12681"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.21236\/AD0785071"},{"key":"atypb9","volume-title":"Proc. Joint Automatic Control Conf","author":"Paul, R.P."},{"key":"atypb10","volume-title":"Robot Manipulators, Mathematics, Programming and Control","author":"Paul, R.P.","year":"1983"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1115\/1.3139652"},{"key":"atypb12","volume-title":"Force feedback in robot assembly using an active wrist with adaptable compliance. Ph. D. Thesis","author":"Simons, J.","year":"1980"},{"key":"atypb13","volume-title":"Proc. IFIP Working Conf. on Off-Line Programming of Industrial Robots","author":"Van Aken, L."},{"key":"atypb14","volume-title":"Proc. 5th Int. Conf. on Robot Vision and Sensory Control","author":"Van Brussel, H."},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1115\/1.3427095"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600101"},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1109\/T-C.1975.224333"},{"key":"atypb18","volume-title":"19th IEEE Conf. on Decision and Control","author":"Wu, C.H."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836498800700402","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836498800700402","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:18:11Z","timestamp":1777457891000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836498800700402"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1988,8]]},"references-count":18,"journal-issue":{"issue":"4","published-print":{"date-parts":[[1988,8]]}},"alternative-id":["10.1177\/027836498800700402"],"URL":"https:\/\/doi.org\/10.1177\/027836498800700402","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1988,8]]}}}