{"id":"https://openalex.org/W2896967259","doi":"https://doi.org/10.1109/icra.2019.8793843","title":"A constrained control-planning strategy for redundant manipulators","display_name":"A constrained control-planning strategy for redundant manipulators","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2896967259","doi":"https://doi.org/10.1109/icra.2019.8793843","mag":"2896967259"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793843","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793843","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1810.03945","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076052510","display_name":"Corina Barb\u0103lat\u0103","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Corina Barbalata","raw_affiliation_strings":["Corina Barbalata and Matthew Johnson-Roberson are the Department of Naval Architecture and Marine Engineering, University of Michigan, USA","[Corina Barbalata and Matthew Johnson-Roberson are the Department of Naval Architecture and Marine Engineering, University of Michigan, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Corina Barbalata and Matthew Johnson-Roberson are the Department of Naval Architecture and Marine Engineering, University of Michigan, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"[Corina Barbalata and Matthew Johnson-Roberson are the Department of Naval Architecture and Marine Engineering, University of Michigan, USA]","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053632225","display_name":"Ram Vasudevan","orcid":"https://orcid.org/0000-0003-1978-0572"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ram Vasudevan","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089990642","display_name":"Matthew Johnson\u2010Roberson","orcid":"https://orcid.org/0000-0002-0506-907X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Johnson-Roberson","raw_affiliation_strings":["Corina Barbalata and Matthew Johnson-Roberson are the Department of Naval Architecture and Marine Engineering, University of Michigan, USA","[Corina Barbalata and Matthew Johnson-Roberson are the Department of Naval Architecture and Marine Engineering, University of Michigan, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Corina Barbalata and Matthew Johnson-Roberson are the Department of Naval Architecture and Marine Engineering, University of Michigan, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"[Corina Barbalata and Matthew Johnson-Roberson are the Department of Naval Architecture and Marine Engineering, University of Michigan, USA]","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"7","issue":null,"first_page":"3073","last_page":"3079"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9980999827384949,"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/motion-planning","display_name":"Motion planning","score":0.6836309432983398},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.6415920853614807},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.629314661026001},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5815841555595398},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5427470803260803},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5372782349586487},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4760858118534088},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4139106273651123},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3571699857711792},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33765897154808044},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2272275984287262},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19213151931762695},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11849293112754822}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6836309432983398},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.6415920853614807},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.629314661026001},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5815841555595398},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5427470803260803},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5372782349586487},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4760858118534088},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4139106273651123},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3571699857711792},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33765897154808044},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2272275984287262},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19213151931762695},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11849293112754822},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra.2019.8793843","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793843","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1810.03945","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1810.03945","pdf_url":"https://arxiv.org/pdf/1810.03945","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2896967259","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1810.03945","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1810.03945","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1810.03945","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1810.03945","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1810.03945","pdf_url":"https://arxiv.org/pdf/1810.03945","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2896967259.pdf","grobid_xml":"https://content.openalex.org/works/W2896967259.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W195033972","https://openalex.org/W1573352441","https://openalex.org/W1574514837","https://openalex.org/W1971079248","https://openalex.org/W2003669963","https://openalex.org/W2014746566","https://openalex.org/W2042803738","https://openalex.org/W2055381865","https://openalex.org/W2072763216","https://openalex.org/W2102475157","https://openalex.org/W2104332709","https://openalex.org/W2108480458","https://openalex.org/W2110501241","https://openalex.org/W2124538551","https://openalex.org/W2127901271","https://openalex.org/W2128848325","https://openalex.org/W2135003933","https://openalex.org/W2250331966","https://openalex.org/W2296065489","https://openalex.org/W2413469906","https://openalex.org/W2758033803","https://openalex.org/W2951069078","https://openalex.org/W2951175080","https://openalex.org/W4254106911","https://openalex.org/W6605295560","https://openalex.org/W6607786297","https://openalex.org/W6697360082","https://openalex.org/W6715566310"],"related_works":["https://openalex.org/W2968443255","https://openalex.org/W2536460468","https://openalex.org/W2085525740","https://openalex.org/W2560665049","https://openalex.org/W3203007157","https://openalex.org/W2184472120","https://openalex.org/W2133170315","https://openalex.org/W3170985335","https://openalex.org/W2103591430","https://openalex.org/W2075395344","https://openalex.org/W2177083214","https://openalex.org/W3204915636","https://openalex.org/W2962761125","https://openalex.org/W1984661370","https://openalex.org/W3187343932","https://openalex.org/W2143871881","https://openalex.org/W2327437254","https://openalex.org/W2765569125","https://openalex.org/W2171324123","https://openalex.org/W2616932271"],"abstract_inverted_index":{"This":[0,40],"paper":[1],"presents":[2],"an":[3,45],"interconnected":[4],"control-planning":[5],"strategy":[6,29,41],"for":[7,30],"redundant":[8],"manipulators,":[9],"subject":[10,36],"to":[11,37],"system":[12],"and":[13,22,58],"environmental":[14],"constraints.":[15,63],"The":[16,77],"method":[17,79,107],"incorporates":[18],"low-level":[19],"control":[20,47],"characteristics":[21],"high-level":[23],"planning":[24],"components":[25],"into":[26,70],"a":[27,49,87,96],"robust":[28],"manipulators":[31],"acting":[32],"in":[33,108],"complex":[34],"environments,":[35],"joint":[38],"limits.":[39],"is":[42,66,80],"formulated":[43],"using":[44],"adaptive":[46],"rule,":[48],"computational":[50],"efficient":[51],"estimation":[52],"of":[53,61,74,105],"the":[54,59,62,72,75,103,106],"robot's":[55],"mathematical":[56],"model":[57],"nullspace":[60],"A":[64],"path":[65],"generated":[67],"that":[68],"takes":[69],"account":[71],"capabilities":[73],"platform.":[76],"proposed":[78],"computationally":[81],"efficient,":[82],"enabling":[83],"its":[84],"implementation":[85],"on":[86],"real":[88],"multi-body":[89],"robotic":[90],"system.":[91],"Through":[92],"experimental":[93],"results":[94],"with":[95],"7":[97],"degree-of-freedom":[98],"(DOF)":[99],"manipulator,":[100],"we":[101],"demonstrate":[102],"performance":[104],"real-world":[109],"scenarios.":[110]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}