{"id":"https://openalex.org/W4403317061","doi":"https://doi.org/10.1007/s10846-024-02182-4","title":"Energy-Aware Hierarchical Control of Joint Velocities","display_name":"Energy-Aware Hierarchical Control of Joint Velocities","publication_year":2024,"publication_date":"2024-10-11","ids":{"openalex":"https://openalex.org/W4403317061","doi":"https://doi.org/10.1007/s10846-024-02182-4"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-024-02182-4","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-024-02182-4","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-024-02182-4.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10846-024-02182-4.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072138942","display_name":"Jonas Wittmann","orcid":"https://orcid.org/0000-0001-5116-3625"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Jonas Wittmann","raw_affiliation_strings":["Technical University of Munich, TUM School of Engineering and Design, Department of Mechanical Engineering, Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Applied Mechanics, Boltzmannstra\u00dfe 15, 85748, Garching, Germany"],"raw_orcid":"https://orcid.org/0000-0001-5116-3625","affiliations":[{"raw_affiliation_string":"Technical University of Munich, TUM School of Engineering and Design, Department of Mechanical Engineering, Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Applied Mechanics, Boltzmannstra\u00dfe 15, 85748, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022145751","display_name":"Daniel Hornung","orcid":"https://orcid.org/0000-0002-7846-6375"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Hornung","raw_affiliation_strings":["Technical University of Munich, TUM School of Engineering and Design, Department of Mechanical Engineering, Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Applied Mechanics, Boltzmannstra\u00dfe 15, 85748, Garching, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich, TUM School of Engineering and Design, Department of Mechanical Engineering, Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Applied Mechanics, Boltzmannstra\u00dfe 15, 85748, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093538518","display_name":"Korbinian Griesbauer","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Korbinian Griesbauer","raw_affiliation_strings":["Technical University of Munich, TUM School of Engineering and Design, Department of Mechanical Engineering, Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Applied Mechanics, Boltzmannstra\u00dfe 15, 85748, Garching, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich, TUM School of Engineering and Design, Department of Mechanical Engineering, Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Applied Mechanics, Boltzmannstra\u00dfe 15, 85748, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061262654","display_name":"Daniel Rixen","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Rixen","raw_affiliation_strings":["Technical University of Munich, TUM School of Engineering and Design, Department of Mechanical Engineering, Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Applied Mechanics, Boltzmannstra\u00dfe 15, 85748, Garching, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich, TUM School of Engineering and Design, Department of Mechanical Engineering, Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Applied Mechanics, Boltzmannstra\u00dfe 15, 85748, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5072138942"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":0.9466,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.76086567,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"110","issue":"4","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9990000128746033,"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/joint","display_name":"Joint (building)","score":0.7103310823440552},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5356181859970093},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.46269115805625916},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4536229968070984},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.22284460067749023},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1973658800125122},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16883233189582825},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15372785925865173},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.10138368606567383}],"concepts":[{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.7103310823440552},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5356181859970093},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.46269115805625916},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4536229968070984},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.22284460067749023},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1973658800125122},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16883233189582825},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15372785925865173},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.10138368606567383}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10846-024-02182-4","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-024-02182-4","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-024-02182-4.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1765663","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1765663","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.1007/s10846-024-02182-4","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-024-02182-4","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-024-02182-4.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.4399999976158142,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320323383","display_name":"Technische Universit\u00e4t M\u00fcnchen","ror":"https://ror.org/02kkvpp62"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4403317061.pdf","grobid_xml":"https://content.openalex.org/works/W4403317061.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W1582076359","https://openalex.org/W1860129359","https://openalex.org/W1968189907","https://openalex.org/W1976030291","https://openalex.org/W1988371379","https://openalex.org/W2027995496","https://openalex.org/W2032571467","https://openalex.org/W2046059280","https://openalex.org/W2049410986","https://openalex.org/W2062978913","https://openalex.org/W2072763216","https://openalex.org/W2100790457","https://openalex.org/W2103120971","https://openalex.org/W2112474089","https://openalex.org/W2160049112","https://openalex.org/W2199652152","https://openalex.org/W2800788658","https://openalex.org/W2913232290","https://openalex.org/W2960128293","https://openalex.org/W2975417571","https://openalex.org/W4214570817","https://openalex.org/W4240172577","https://openalex.org/W4285225561","https://openalex.org/W4391323981","https://openalex.org/W6960894187"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W4402327032","https://openalex.org/W2382290278"],"abstract_inverted_index":{"Abstract":[0],"Nowadays,":[1],"robots":[2],"are":[3],"applied":[4],"in":[5,144,152],"dynamic":[6],"environments.":[7],"For":[8],"a":[9,22,50,63,74,83,123,128],"robust":[10],"operation,":[11],"the":[12,56,70,79,103],"motion":[13],"planning":[14],"module":[15],"must":[16],"consider":[17],"other":[18],"tasks":[19],"besides":[20],"reaching":[21],"specified":[23],"pose:":[24],"(self)":[25],"collision":[26],"avoidance,":[27,30],"joint":[28,40,100,112,115,133,136,140],"limit":[29],"keeping":[31],"an":[32,153],"advantageous":[33],"configuration,":[34],"etc.":[35],"Each":[36],"task":[37,76,146],"demands":[38],"different":[39],"control":[41,52,71,80,89,97,108,118,142],"commands,":[42],"which":[43],"may":[44],"counteract":[45],"each":[46],"other.":[47],"We":[48,86,148],"present":[49],"hierarchical":[51,96,107,145],"that,":[53],"depending":[54],"on":[55,131,155],"robot":[57],"and":[58,139],"environment":[59],"state,":[60],"determines":[61],"online":[62],"suitable":[64],"priority":[65,93],"among":[66],"those":[67],"tasks.":[68],"Thereby,":[69],"command":[72,81],"of":[73,82,106],"lower-prioritized":[75],"never":[77],"hinders":[78],"higher-prioritized":[84],"task.":[85],"ensure":[87],"smooth":[88],"signals":[90,119],"also":[91],"during":[92],"rearrangement.":[94],"Our":[95],"computes":[98],"reference":[99],"velocities.":[101],"However,":[102],"underlying":[104],"concepts":[105],"differ":[109,143],"when":[110],"using":[111],"accelerations":[113],"or":[114],"torques":[116],"as":[117,122],"instead.":[120],"So,":[121],"further":[124],"contribution,":[125],"we":[126],"provide":[127],"comprehensive":[129],"discussion":[130],"how":[132],"velocity":[134],"control,":[135,138],"acceleration":[137],"torque":[141],"control.":[147],"validate":[149],"our":[150],"formulation":[151],"experiment":[154],"hardware.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-13T14:20:09.374765","created_date":"2025-10-10T00:00:00"}