{"id":"https://openalex.org/W2418583000","doi":"https://doi.org/10.1109/icra.2016.7487385","title":"Control of constrained robots subject to unilateral contacts and friction cone constraints","display_name":"Control of constrained robots subject to unilateral contacts and friction cone constraints","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2418583000","doi":"https://doi.org/10.1109/icra.2016.7487385","mag":"2418583000"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487385","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487385","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5000948875","display_name":"Farhad Aghili","orcid":"https://orcid.org/0000-0002-2059-0226"},"institutions":[{"id":"https://openalex.org/I2800055578","display_name":"Canadian Space Agency","ror":"https://ror.org/03a1gte98","country_code":"CA","type":"government","lineage":["https://openalex.org/I2800055578"]},{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Farhad Aghili","raw_affiliation_strings":["Canadian Space Agency","Concordia University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Canadian Space Agency","institution_ids":["https://openalex.org/I2800055578"]},{"raw_affiliation_string":"Concordia University","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076212272","display_name":"Chun\u2010Yi Su","orcid":"https://orcid.org/0000-0002-1869-5563"},"institutions":[{"id":"https://openalex.org/I4210148195","display_name":"Concordia University","ror":"https://ror.org/04dwckp88","country_code":"US","type":"education","lineage":["https://openalex.org/I4210148195"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chun-Yi Su","raw_affiliation_strings":["Department of Mechanical & Industrial Engineering, Concordia University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical & Industrial Engineering, Concordia University","institution_ids":["https://openalex.org/I4210148195"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2347","last_page":"2352"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9984999895095825,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9984999895095825,"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":0.9973000288009644,"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":0.9970999956130981,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7241124510765076},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5913918614387512},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.5791261196136475},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5784698128700256},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5728182196617126},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5375110507011414},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.501401424407959},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4918334484100342},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.4912487864494324},{"id":"https://openalex.org/keywords/feasible-region","display_name":"Feasible region","score":0.45349323749542236},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.4463370442390442},{"id":"https://openalex.org/keywords/linear-programming","display_name":"Linear programming","score":0.4200981557369232},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.40997955203056335},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.40706774592399597},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3959463834762573},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2552686035633087},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12598207592964172},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.10735052824020386}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7241124510765076},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5913918614387512},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.5791261196136475},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5784698128700256},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5728182196617126},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5375110507011414},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.501401424407959},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4918334484100342},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.4912487864494324},{"id":"https://openalex.org/C177067428","wikidata":"https://www.wikidata.org/wiki/Q17013331","display_name":"Feasible region","level":2,"score":0.45349323749542236},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.4463370442390442},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.4200981557369232},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.40997955203056335},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.40706774592399597},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3959463834762573},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2552686035633087},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12598207592964172},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.10735052824020386},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487385","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487385","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W41341799","https://openalex.org/W1506318495","https://openalex.org/W1514056936","https://openalex.org/W1547032349","https://openalex.org/W2038054381","https://openalex.org/W2046572274","https://openalex.org/W2104479525","https://openalex.org/W2113864191","https://openalex.org/W2128848325","https://openalex.org/W2129734754","https://openalex.org/W2142918585","https://openalex.org/W2150317946","https://openalex.org/W2154631808","https://openalex.org/W2162495121","https://openalex.org/W2163645408","https://openalex.org/W2296319761","https://openalex.org/W2798909945","https://openalex.org/W4250589301"],"related_works":["https://openalex.org/W3164697397","https://openalex.org/W165108556","https://openalex.org/W4322623241","https://openalex.org/W2376526212","https://openalex.org/W2963575397","https://openalex.org/W198877065","https://openalex.org/W2134748386","https://openalex.org/W1603423135","https://openalex.org/W1524661691","https://openalex.org/W1966349642"],"abstract_inverted_index":{"The":[0,26,98,161],"projection-based":[1],"control":[2,111,118,159],"of":[3,8,43,64,101,129,156,174],"a":[4,75,166,172],"rather":[5],"general":[6],"class":[7],"robots":[9,94],"subject":[10,133],"to":[11,18,134,138],"linear":[12,177,181],"and":[13,21,47,109,119,144,176],"quadratic":[14,167,175],"inequality":[15,178],"constraints":[16,35,136,179,183],"pertinent":[17],"unilateral":[19,142],"contacts":[20],"friction":[22,140],"cones":[23],"is":[24,59,86,124],"presented.":[25],"controller":[27,58,77],"can":[28,48,69,78,147,185],"also":[29],"take":[30],"into":[31,150],"account":[32],"other":[33],"physical":[34],"levied":[36],"by":[37,171,188],"actuator":[38],"saturation":[39],"limits":[40],"and/or":[41],"existence":[42],"some":[44],"unactuated":[45],"joints,":[46],"minimize":[49],"actuation":[50,131,145],"effort":[51,132],"for":[52,81,89,116],"redundant":[53],"systems.":[54],"Moreover,":[55],"since":[56],"the":[57,102,107,127,135,139,157],"not":[60],"based":[61],"on":[62],"derivation":[63],"minimal-order":[65],"dynamics":[66],"model,":[67],"it":[68],"easily":[70],"handle":[71],"contact":[72],"switching.":[73],"Therefore,":[74],"single":[76],"be":[79,148,186],"used":[80,115],"different":[82],"constraint":[83],"conditions,":[84],"which":[85,113],"very":[87],"appealing":[88],"applications":[90],"such":[91],"as":[92],"legged":[93],"or":[95],"grasping":[96],"robots.":[97],"orthogonal":[99],"decomposition":[100],"generalized":[103],"force":[104],"vector":[105],"yields":[106],"primary":[108],"secondary":[110,158],"inputs,":[112],"are":[114],"motion":[117],"interaction":[120],"control,":[121],"respectively.":[122],"It":[123],"shown":[125],"that":[126,184],"problem":[128,164],"minimizing":[130],"due":[137],"cones,":[141],"contacts,":[143],"limitations,":[146],"transcripted":[149],"an":[151],"optimization":[152,163],"programming":[153],"in":[154],"terms":[155],"variable.":[160],"latter":[162],"has":[165],"cost":[168],"function":[169],"accompanied":[170],"set":[173],"plus":[180],"equality":[182],"solved":[187],"barrier":[189],"methods.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}