Concepedia

Cartesian Impedance Control

Cartesian Impedance Control is a model of impedance control that regulates the interaction forces and motions of a robot end-effector in Cartesian space by defining a desired dynamic relationship between external forces and position/velocity deviations along task-oriented translational and rotational axes.

85

Publications

6.3K

Citations

210

Authors

70

Institutions

Publications per year

2017–2026

43

Parents

Publications

85

Impedance Control: An Approach to Manipulation: Part II—Implementation

Neville Hogan · Journal of Dynamic Systems Measurement and Control · 1985 · 957 citations

, , +17

DLR-Hand II: next generation of a dextrous robot hand

J. Butterfaß, Markus Grebenstein, Haoliang Liu et al. · 2002 · 814 citations

, , +17

Variable Impedance Control of Redundant Manipulators for Intuitive Human–Robot Physical Interaction

Fanny Ficuciello, Luigi Villani, Bruno Siciliano · IEEE Transactions on Robotics · 2015 · 438 citations

, , +17

Cartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms

Alin Albu‐Schäffer, Christian Ott, Udo Frese et al. · 2004 · 278 citations

, , +17

Cartesian impedance control techniques for torque controlled light-weight robots

Alin Albu‐Schäffer, G. Hirzinger · 2003 · 175 citations

, , +16

1–5 of 85

Authors

210

  1. AA
    Alin Albu‐Schäffer

    Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR), Germany

    14 publications · 1.1K citations

    12

    h-index

  2. CO
    Christian Ott

    Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR), Germany

    10 publications · 830 citations

    10

    h-index

  3. LR
    Loris Roveda

    Politecnico di Milano, Italy

    9 publications · 389 citations

    9

    h-index

  4. DP
    Dario Piga

    Dalle Molle Institute for Artificial Intelligence Research, Switzerland

    8 publications · 326 citations

    8

    h-index

  5. GH
    G. Hirzinger

    Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR), Germany

    6 publications · 1.5K citations

    6

    h-index

1–5 of 210

Institutions

70

  1. Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)

    Cologne, Germany

    16 h-index

    66 publications

    7.5K citations

  2. Dalle Molle Institute for Artificial Intelligence Research

    Lugano, Switzerland

    9 h-index

    18 publications

    788 citations

  3. University of Applied Sciences and Arts of Southern Switzerland

    Manno, Switzerland

    9 h-index

    19 publications

    801 citations

  4. Politecnico di Milano

    Milan, Italy

    8 h-index

    16 publications

    743 citations

  5. Università della Svizzera italiana

    Lugano, Switzerland

    8 h-index

    16 publications

    742 citations

  6. Italian Institute of Technology

    Genoa, Italy

    7 h-index

    23 publications

    800 citations

  7. Harbin Institute of Technology

    Harbin, China

    5 h-index

    22 publications

    573 citations

  8. University of Edinburgh

    Edinburgh, United Kingdom

    5 h-index

    20 publications

    750 citations

1–8 of 70

Venues

  1. IEEE Robotics and Automation Letters

    7 publications · 349 citations

    7

    h-index

  2. IEEE Transactions on Robotics

    4 publications · 530 citations

    4

    h-index

  3. 3

    h-index

  4. Advanced Robotics

    2 publications · 45 citations

    2

    h-index

  5. IFAC Proceedings Volumes

    2 publications · 184 citations

    2

    h-index

1–5