{"id":"https://openalex.org/W4404629777","doi":"https://doi.org/10.1007/s10846-024-02193-1","title":"Multi-Modal and Adaptive Robot Control through Hierarchical Quadratic Programming","display_name":"Multi-Modal and Adaptive Robot Control through Hierarchical Quadratic Programming","publication_year":2024,"publication_date":"2024-11-22","ids":{"openalex":"https://openalex.org/W4404629777","doi":"https://doi.org/10.1007/s10846-024-02193-1"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-024-02193-1","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-024-02193-1","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-024-02193-1.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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; 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/s10846-024-02193-1.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020000873","display_name":"Francesco Tassi","orcid":"https://orcid.org/0000-0002-2413-3962"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Francesco Tassi","raw_affiliation_strings":["Human-Robot Interfaces and Interaction Lab., Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-2413-3962","affiliations":[{"raw_affiliation_string":"Human-Robot Interfaces and Interaction Lab., Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070028115","display_name":"Arash Ajoudani","orcid":"https://orcid.org/0000-0002-1261-737X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arash Ajoudani","raw_affiliation_strings":["Human-Robot Interfaces and Interaction Lab., Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Human-Robot Interfaces and Interaction Lab., Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5020000873"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":{"value":2990,"currency":"USD","value_usd":2990},"fwci":1.2079,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.77403984,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"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/T10653","display_name":"Robot Manipulation and Learning","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/T10653","display_name":"Robot Manipulation and Learning","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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.7217183113098145},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5467466711997986},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.5271971821784973},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4448683261871338},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42996713519096375},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.428803950548172},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3353264331817627},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26556527614593506},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2380814254283905},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.2143610417842865},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21089401841163635}],"concepts":[{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.7217183113098145},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5467466711997986},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.5271971821784973},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4448683261871338},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42996713519096375},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.428803950548172},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3353264331817627},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26556527614593506},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2380814254283905},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2143610417842865},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21089401841163635},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-024-02193-1","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-024-02193-1","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-024-02193-1.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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s10846-024-02193-1","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-024-02193-1","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-024-02193-1.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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5556175940","display_name":null,"funder_award_id":"871237","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G671453841","display_name":null,"funder_award_id":"850932","funder_id":"https://openalex.org/F4320338453","funder_display_name":"HORIZON EUROPE European Research Council"}],"funders":[{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320338453","display_name":"HORIZON EUROPE European Research Council","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4404629777.pdf","grobid_xml":"https://content.openalex.org/works/W4404629777.grobid-xml"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W850710400","https://openalex.org/W1617153945","https://openalex.org/W1763398942","https://openalex.org/W1971893566","https://openalex.org/W1976030291","https://openalex.org/W1982413096","https://openalex.org/W2016040484","https://openalex.org/W2019606703","https://openalex.org/W2049617391","https://openalex.org/W2053983794","https://openalex.org/W2061350632","https://openalex.org/W2072763216","https://openalex.org/W2114877768","https://openalex.org/W2117155277","https://openalex.org/W2133512710","https://openalex.org/W2153577013","https://openalex.org/W2154847670","https://openalex.org/W2160049112","https://openalex.org/W2160205694","https://openalex.org/W2169028406","https://openalex.org/W2759092793","https://openalex.org/W2765218414","https://openalex.org/W2891172891","https://openalex.org/W2900391154","https://openalex.org/W2912365230","https://openalex.org/W2913232290","https://openalex.org/W3005305811","https://openalex.org/W3019094582","https://openalex.org/W3116391487","https://openalex.org/W3130337384","https://openalex.org/W3176420870","https://openalex.org/W3205044643","https://openalex.org/W4200517215","https://openalex.org/W4205384907","https://openalex.org/W4213417646","https://openalex.org/W4254005064","https://openalex.org/W4281254335","https://openalex.org/W4285102568","https://openalex.org/W4285102577","https://openalex.org/W4288049961","https://openalex.org/W4312312060","https://openalex.org/W4312646552","https://openalex.org/W4401415920"],"related_works":["https://openalex.org/W2379392295","https://openalex.org/W3160965418","https://openalex.org/W8302103","https://openalex.org/W613940353","https://openalex.org/W2320915480","https://openalex.org/W2362990116","https://openalex.org/W2381300099","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314"],"abstract_inverted_index":{"This":[0,114,207],"paper":[1],"proposes":[2],"a":[3,60,89,118,180,189,242,263,280],"novel":[4],"Hierarchical":[5],"Quadratic":[6],"Programming":[7],"(HQP)-based":[8],"framework":[9,62],"that":[10,122,184,234,268],"enables":[11,104,235],"multi-tasking":[12],"control":[13,76,95,237,266],"under":[14],"multiple":[15,275],"Human-Robot":[16],"Interaction":[17],"(HRI)":[18],"scenarios.":[19],"The":[20,55],"proposed":[21],"controllers\u2019":[22],"formulations":[23],"are":[24,199],"inspired":[25],"by":[26,178],"real-world":[27],"contact-rich":[28],"scenarios,":[29],"which":[30,78,129,169,214],"currently":[31],"constitute":[32],"one":[33],"of":[34,40,66,72,120,126,134,143,283],"the":[35,70,99,124,132,141,144,148,166,170,175,215,219,222,247],"main":[36],"limitations":[37],"in":[38,131,168,202,213,221],"terms":[39],"widespread":[41],"practical":[42],"deployment.":[43],"Indeed,":[44],"HRI":[45],"can":[46],"occur":[47],"through":[48,117,210],"different":[49,75],"modalities,":[50],"based":[51,187],"on":[52,98,188],"human\u2019s":[53],"needs.":[54],"objective":[56],"is":[57,115,161,185,208],"to":[58,140,153,173,240,254],"create":[59],"unique":[61],"for":[63,287],"various":[64],"types":[65],"possible":[67],"interactions,":[68],"avoiding":[69],"necessity":[71],"switching":[73],"between":[74,271],"architectures,":[77],"requires":[79],"dealing":[80],"with":[81],"discontinuities.":[82],"To":[83],"achieve":[84],"this,":[85],"we":[86,229,261],"firstly":[87],"propose":[88],"HQP-based":[90,265],"hybrid":[91,149,181],"Cartesian/joint":[92],"space":[93],"impedance":[94],"formulation.":[96],"Based":[97],"robot\u2019s":[100],"dynamics,":[101],"this":[102,253],"controller":[103],"an":[105,159,231],"adaptive":[106],"compliance":[107,150],"behaviour,":[108],"while":[109],"achieving":[110],"hierarchical":[111,276],"motion":[112],"control.":[113],"validated":[116,209],"series":[119],"experiments":[121,212],"show":[123],"accuracy":[125,157],"trajectory":[127,258],"tracking,":[128],"remains":[130],"order":[133],"10mm":[135],"during":[136],"fast":[137],"motions":[138],"thanks":[139],"addition":[142],"robot":[145,176,220],"dynamics.":[146],"Besides,":[147],"behaviour":[151],"allows":[152,239],"deviate":[154],"from":[155],"such":[156],"when":[158,196],"interaction":[160,244,272,284],"present.":[162],"We":[163,250],"then":[164,251],"consider":[165],"case":[167],"human":[171,216],"needs":[172],"move":[174],"directly,":[177],"proposing":[179],"admittance/impedance":[182],"controller,":[183],"again":[186],"HQP":[190],"formulation":[191],"and":[192,204,238,257,278],"provides":[193],"inherent":[194],"softening":[195],"conflicting":[197],"tasks":[198],"present,":[200],"or":[201],"close-to-limit":[203],"near-singular":[205],"configurationsa.":[206],"several":[211],"easily":[217],"moves":[218],"workspace":[223],"via":[224],"direct":[225],"physical":[226],"interaction.":[227],"Next,":[228],"formulate":[230],"additional":[232],"hierarchy":[233],"force":[236,245,256],"maintain":[241],"specific":[243],"at":[246],"end":[248],"effector.":[249],"extend":[252],"simultaneous":[255],"tracking.":[259],"Overall,":[260],"obtain":[262],"multi-purpose":[264],"framework,":[267],"seamlessly":[269],"switchwes":[270],"modes,":[273],"enabling":[274],"behaviours,":[277],"covering":[279],"wide":[281],"spectrum":[282],"types,":[285],"essential":[286],"synergistic":[288],"HRI.":[289]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":3}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}
