{"id":"https://openalex.org/W7204787341","doi":"https://doi.org/10.15607/rss.2026.xxii.101","title":"Grounding Discrete-Time Joint-Level Acceleration Bounds in Voltage-Constrained Actuation","display_name":"Grounding Discrete-Time Joint-Level Acceleration Bounds in Voltage-Constrained Actuation","publication_year":2026,"publication_date":"2026-07-13","ids":{"openalex":"https://openalex.org/W7204787341","doi":"https://doi.org/10.15607/rss.2026.xxii.101"},"language":"en","primary_location":{"id":"doi:10.15607/rss.2026.xxii.101","doi":"https://doi.org/10.15607/rss.2026.xxii.101","is_oa":true,"landing_page_url":"https://doi.org/10.15607/rss.2026.xxii.101","pdf_url":"https://doi.org/10.15607/rss.2026.xxii.101","source":{"id":"https://openalex.org/S4306420803","display_name":"Robotics: Science and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics: Science and Systems XXII","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://doi.org/10.15607/rss.2026.xxii.101","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5148787412","display_name":"Lingwei Zhang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Lingwei Zhang","raw_affiliation_strings":["Department of Mechanical and Automation Engineering , The Chinese University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering , The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135954139","display_name":"Jiaming Wang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jiaming Wang","raw_affiliation_strings":["Department of Mechanical and Automation Engineering , The Chinese University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering , The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136000724","display_name":"Tianlin Zhang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Tianlin Zhang","raw_affiliation_strings":["Department of Mechanical and Automation Engineering , The Chinese University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering , The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5148822952","display_name":"Zhitao Song","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zhitao Song","raw_affiliation_strings":["Department of Mechanical and Automation Engineering , The Chinese University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering , The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046784545","display_name":"Xuanqi Zeng","orcid":"https://orcid.org/0000-0003-2690-9629","observed_orcids":["https://orcid.org/0000-0003-2690-9629"]},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xuanqi Zeng","raw_affiliation_strings":["Department of Mechanical and Automation Engineering , The Chinese University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering , The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032842020","display_name":"Weipeng Xia","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Weipeng Xia","raw_affiliation_strings":["Department of Mechanical and Automation Engineering , The Chinese University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering , The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136008389","display_name":"Zhongyu Li","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zhongyu Li","raw_affiliation_strings":["Department of Mechanical and Automation Engineering , The Chinese University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering , The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5122991967","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679","observed_orcids":["https://orcid.org/0000-0002-3625-6679"]},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yunhui Liu","raw_affiliation_strings":["Department of Mechanical and Automation Engineering , The Chinese University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering , The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.70446311,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.7490000128746033,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.7490000128746033,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.05460000038146973,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.028699999675154686,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/electric-actuators","display_name":"electric actuators","score":0.9399999976158142},{"id":"https://openalex.org/keywords/constraint-satisfaction","display_name":"constraint satisfaction","score":0.45100000500679016},{"id":"https://openalex.org/keywords/discrete-time-control","display_name":"discrete-time control","score":0.4690000116825104}],"concepts":[{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.49720001220703125},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46239998936653137},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.45840001106262207},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3763999938964844},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.31029999256134033},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2976999878883362},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.2919999957084656},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2906999886035919},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27559998631477356},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.25540000200271606},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.25529998540878296}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.15607/rss.2026.xxii.101","doi":"https://doi.org/10.15607/rss.2026.xxii.101","is_oa":true,"landing_page_url":"https://doi.org/10.15607/rss.2026.xxii.101","pdf_url":"https://doi.org/10.15607/rss.2026.xxii.101","source":{"id":"https://openalex.org/S4306420803","display_name":"Robotics: Science and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics: Science and Systems XXII","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.15607/rss.2026.xxii.101","doi":"https://doi.org/10.15607/rss.2026.xxii.101","is_oa":true,"landing_page_url":"https://doi.org/10.15607/rss.2026.xxii.101","pdf_url":"https://doi.org/10.15607/rss.2026.xxii.101","source":{"id":"https://openalex.org/S4306420803","display_name":"Robotics: Science and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics: Science and Systems XXII","raw_type":"proceedings-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7204787341.pdf","grobid_xml":"https://content.openalex.org/works/W7204787341.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W7160932885","https://openalex.org/W2526935822","https://openalex.org/W4308287758","https://openalex.org/W1923994225","https://openalex.org/W655350690","https://openalex.org/W1953483015","https://openalex.org/W3202317945","https://openalex.org/W4252518075","https://openalex.org/W2569135587","https://openalex.org/W4206154603"],"abstract_inverted_index":{"Discrete-time":[0],"joint":[1],"acceleration":[2,35,40],"constraints":[3],"are":[4],"widely":[5],"used":[6],"to":[7,49],"enforce":[8],"position":[9],"and":[10,56,70],"velocity":[11],"limits.However,":[12],"under":[13],"voltage-constrained":[14,42],"electric":[15,54],"actuators,":[16],"kinematically":[17],"admissible":[18],"accelerations":[19,48],"may":[20],"be":[21],"physically":[22],"unrealizable,":[23],"exposing":[24],"a":[25,33,57],"missing":[26],"execution-level":[27],"abstraction.We":[28],"propose":[29],"Voltage-Realizable":[30],"Acceleration":[31],"(VRA),":[32],"joint-level":[34],"interface":[36],"that":[37,61],"grounds":[38],"kinematic":[39],"in":[41],"actuator":[43],"physics":[44],"by":[45],"restricting":[46],"commanded":[47],"voltage-realizable":[50],"constraints.Hardware":[51],"experiments":[52],"on":[53],"actuators":[55],"wheel-legged":[58],"quadruped":[59],"show":[60],"VRA":[62],"removes":[63],"unrealizable":[64],"accelerations,":[65],"restores":[66],"consistent":[67],"near-constraint":[68],"execution,":[69],"reduces":[71],"constraint-induced":[72],"oscillations.":[73]},"counts_by_year":[],"updated_date":"2026-10-28T10:33:24.094632","created_date":"2026-09-01T00:00:00"}
