{"id":"https://openalex.org/W4415524589","doi":"https://doi.org/10.1109/humanoids65713.2025.11203174","title":"Whole-Body Impedance Control of Service Robot GARMI with Non-Holonomic Constraint","display_name":"Whole-Body Impedance Control of Service Robot GARMI with Non-Holonomic Constraint","publication_year":2025,"publication_date":"2025-09-30","ids":{"openalex":"https://openalex.org/W4415524589","doi":"https://doi.org/10.1109/humanoids65713.2025.11203174"},"language":null,"primary_location":{"id":"doi:10.1109/humanoids65713.2025.11203174","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203174","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025528934","display_name":"Moein Forouhar","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":true,"raw_author_name":"Moein Forouhar","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence, Technical University of Munich,München,Germany,80992"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence, Technical University of Munich,München,Germany,80992","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059894624","display_name":"Hamid Sadeghian","orcid":"https://orcid.org/0000-0001-8390-3480"},"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":"Hamid Sadeghian","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence, Technical University of Munich,München,Germany,80992"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence, Technical University of Munich,München,Germany,80992","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004124482","display_name":"Abdeldjallil Naceri","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":"Abdeldjallil Naceri","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence, Technical University of Munich,München,Germany,80992"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence, Technical University of Munich,München,Germany,80992","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":null,"display_name":"Sami Haddadin","orcid":null},"institutions":[{"id":"https://openalex.org/I4210113480","display_name":"Mohamed bin Zayed University of Artificial Intelligence","ror":"https://ror.org/0258gkt32","country_code":"AE","type":"education","lineage":["https://openalex.org/I4210113480"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Mohamed bin Zayed University of Artificial Intelligence (MBZUAI),Masdar City,UAE,SE45 05"],"affiliations":[{"raw_affiliation_string":"Mohamed bin Zayed University of Artificial Intelligence (MBZUAI),Masdar City,UAE,SE45 05","institution_ids":["https://openalex.org/I4210113480"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5025528934"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.30605248,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1109","last_page":"1114"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.9039000272750854,"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"}},"topics":[{"id":"https://openalex.org/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.9039000272750854,"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/control-theory","display_name":"Control theory (sociology)","score":0.6525999903678894},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6248000264167786},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.621399998664856},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5720999836921692},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5692999958992004},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5684000253677368},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5393000245094299},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.4812000095844269},{"id":"https://openalex.org/keywords/service-robot","display_name":"Service robot","score":0.45080000162124634}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6525999903678894},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6248000264167786},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.621399998664856},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5720999836921692},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5692999958992004},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5684000253677368},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5393000245094299},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.4812000095844269},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4577000141143799},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4571000039577484},{"id":"https://openalex.org/C2776228582","wikidata":"https://www.wikidata.org/wiki/Q7455797","display_name":"Service robot","level":3,"score":0.45080000162124634},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42890000343322754},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4115000069141388},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.40709999203681946},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.3874000012874603},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.3865000009536743},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.3743000030517578},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3659999966621399},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.3582000136375427},{"id":"https://openalex.org/C2780378061","wikidata":"https://www.wikidata.org/wiki/Q25351891","display_name":"Service (business)","level":2,"score":0.3102000057697296},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.3052999973297119},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2962000072002411},{"id":"https://openalex.org/C2780559388","wikidata":"https://www.wikidata.org/wiki/Q1247189","display_name":"Mobile service","level":3,"score":0.28200000524520874},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.27880001068115234},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2702000141143799},{"id":"https://openalex.org/C113805353","wikidata":"https://www.wikidata.org/wiki/Q13424600","display_name":"Impedance parameters","level":3,"score":0.2508000135421753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids65713.2025.11203174","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203174","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1272591048","https://openalex.org/W1982547038","https://openalex.org/W1986152369","https://openalex.org/W2017239762","https://openalex.org/W2028044548","https://openalex.org/W2114396743","https://openalex.org/W2116365242","https://openalex.org/W2133170315","https://openalex.org/W2135929901","https://openalex.org/W2138346348","https://openalex.org/W2149085596","https://openalex.org/W2154777391","https://openalex.org/W2162488100","https://openalex.org/W2164395348","https://openalex.org/W2166085119","https://openalex.org/W2166316739","https://openalex.org/W2168975935","https://openalex.org/W2169673025","https://openalex.org/W2762248135","https://openalex.org/W3169984014","https://openalex.org/W4362593734","https://openalex.org/W4389665604"],"related_works":[],"abstract_inverted_index":{"In":[0],"this":[1,51],"paper,":[2],"we":[3],"present":[4],"a":[5,37],"whole-body":[6,26],"impedance":[7,54],"controller":[8],"for":[9,75],"mobile":[10,47],"service":[11,102],"robots":[12],"equipped":[13],"with":[14],"nonholonomic":[15],"differential-drive":[16],"bases":[17],"and":[18,31,85,96],"dual":[19],"arms.":[20],"We":[21],"first":[22],"derive":[23],"the":[24,29,34,42,46,59,68,76,100],"constrained":[25],"dynamics":[27],"of":[28,45],"robot":[30],"then":[32],"reduce":[33],"model":[35],"to":[36,40],"lower-dimensional":[38],"space":[39],"incorporate":[41],"non-holonomic":[43],"constraints":[44],"base.":[48],"Based":[49],"on":[50,99],"reduced":[52],"model,":[53],"control":[55,63,74],"is":[56,91],"implemented":[57],"in":[58,67],"task":[60],"space.":[61],"Secondary":[62],"objectives":[64],"are":[65],"realized":[66],"robot's":[69,77],"null":[70],"space,":[71],"including":[72],"PD":[73],"home":[78],"configuration,":[79],"joint":[80],"limit":[81],"avoidance,":[82,84],"singularity":[83],"self-collision":[86],"prevention.":[87],"The":[88],"controller's":[89],"performance":[90],"validated":[92],"through":[93],"both":[94],"simulation":[95],"experimental":[97],"studies":[98],"GARMI":[101],"robot.":[103]},"counts_by_year":[],"updated_date":"2026-03-25T23:56:10.502304","created_date":"2025-10-24T00:00:00"}