{"id":"https://openalex.org/W1976454152","doi":"https://doi.org/10.1109/icra.2012.6224855","title":"Multiple task-space robot control: Sense locally, act globally","display_name":"Multiple task-space robot control: Sense locally, act globally","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W1976454152","doi":"https://doi.org/10.1109/icra.2012.6224855","mag":"1976454152"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224855","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224855","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5055169949","display_name":"X. Li","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"X. Li","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798,#TAB#"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798,#TAB#","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080753188","display_name":"Chien Chern Cheah","orcid":"https://orcid.org/0000-0003-3728-9277"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"C. C. Cheah","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798,#TAB#"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798,#TAB#","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5055169949"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":1.6891,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.85474796,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"4","issue":null,"first_page":"265","last_page":"270"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"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":0.9994999766349792,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9993000030517578,"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":0.9965999722480774,"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/workspace","display_name":"Workspace","score":0.7927801012992859},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7004073262214661},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6629937887191772},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6405555009841919},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6383891105651855},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6239277124404907},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5014193058013916},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41945332288742065},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3034140467643738},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2816341817378998},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1757674217224121},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17262181639671326}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7927801012992859},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7004073262214661},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6629937887191772},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6405555009841919},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6383891105651855},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6239277124404907},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5014193058013916},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41945332288742065},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3034140467643738},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2816341817378998},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1757674217224121},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17262181639671326},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2012.6224855","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224855","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/100344","is_oa":false,"landing_page_url":"https://hdl.handle.net/10356/100344","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W89510016","https://openalex.org/W1487127700","https://openalex.org/W1703294603","https://openalex.org/W1978595173","https://openalex.org/W2015003349","https://openalex.org/W2015982707","https://openalex.org/W2016213375","https://openalex.org/W2017708671","https://openalex.org/W2026514405","https://openalex.org/W2042803738","https://openalex.org/W2044089809","https://openalex.org/W2048603489","https://openalex.org/W2049410986","https://openalex.org/W2067757631","https://openalex.org/W2083483041","https://openalex.org/W2095530218","https://openalex.org/W2113260111","https://openalex.org/W2114872772","https://openalex.org/W2120633566","https://openalex.org/W2133668221","https://openalex.org/W2139121338","https://openalex.org/W2141543600","https://openalex.org/W2153324618","https://openalex.org/W2163898612"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W1679399962","https://openalex.org/W2132859693","https://openalex.org/W1901106430"],"abstract_inverted_index":{"Task-space":[0],"sensory":[1,25,60],"feedback":[2,7,26,61,76,80,93,113],"information":[3,77,81,114],"such":[4],"as":[5,16],"visual":[6],"is":[8,49,64,71,82,117],"used":[9],"in":[10,33,84,119],"many":[11],"modern":[12],"robot":[13],"control":[14,27,62],"systems":[15],"it":[17],"improves":[18],"robustness":[19],"to":[20,115,133],"model":[21],"uncertainty.":[22],"However,":[23],"existing":[24],"schemes":[28],"are":[29,131],"only":[30],"valid":[31],"locally":[32],"a":[34,39,85],"finite":[35],"task":[36],"space":[37],"within":[38],"limited":[40],"sensing":[41],"zone":[42],"where":[43,78],"singularity":[44],"of":[45,58,90,104,137],"the":[46,54,91,95,101,105,109,120,135,138],"Jacobian":[47],"matrix":[48],"avoided.":[50],"In":[51,107],"this":[52],"paper,":[53],"global":[55,102],"stability":[56],"problem":[57],"task-space":[59],"system":[63],"formulated":[65],"and":[66,98],"solved.":[67],"The":[68,88],"proposed":[69,139],"method":[70],"based":[72],"on":[73],"multiple":[74],"regional":[75],"each":[79],"employed":[83],"local":[86,92],"region.":[87],"combination":[89],"covers":[94],"entire":[96],"workspace":[97],"thus":[99],"guarantees":[100],"movement":[103],"robot.":[106],"addition,":[108],"switching":[110],"from":[111],"one":[112],"another":[116],"embedded":[118],"controller":[121],"without":[122],"using":[123],"any":[124],"hard":[125],"or":[126],"discontinuous":[127],"switching.":[128],"Experimental":[129],"results":[130],"presented":[132],"illustrate":[134],"performance":[136],"controller.":[140]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}