{"id":"https://openalex.org/W2968694796","doi":"https://doi.org/10.1109/icra.2019.8794464","title":"CartesI/O: A ROS Based Real-Time Capable Cartesian Control Framework","display_name":"CartesI/O: A ROS Based Real-Time Capable Cartesian Control Framework","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2968694796","doi":"https://doi.org/10.1109/icra.2019.8794464","mag":"2968694796"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794464","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794464","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":"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/A5016982993","display_name":"Arturo Laurenzi","orcid":"https://orcid.org/0000-0002-9065-1266"},"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":"Arturo Laurenzi","raw_affiliation_strings":["DIBRIS, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"DIBRIS, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046447340","display_name":"Enrico Mingo Hoffman","orcid":"https://orcid.org/0000-0003-2063-7490"},"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":"Enrico Mingo Hoffman","raw_affiliation_strings":["Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072560467","display_name":"Luca Muratore","orcid":"https://orcid.org/0000-0002-1265-3370"},"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":"Luca Muratore","raw_affiliation_strings":["Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"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":"Nikos G. Tsagarakis","raw_affiliation_strings":["Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5016982993"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":3.289,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.92438325,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"591","last_page":"596"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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/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/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.762372612953186},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7086098790168762},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6787583827972412},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6286314129829407},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6247065663337708},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5070812702178955},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.48565351963043213},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.47801387310028076},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4738005995750427},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.4625828266143799},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.4382169544696808},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.42449772357940674},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4017540514469147},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3524368405342102},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13078093528747559},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.10035738348960876},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06104123592376709}],"concepts":[{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.762372612953186},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7086098790168762},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6787583827972412},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6286314129829407},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6247065663337708},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5070812702178955},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.48565351963043213},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.47801387310028076},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4738005995750427},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4625828266143799},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.4382169544696808},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.42449772357940674},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4017540514469147},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3524368405342102},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13078093528747559},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.10035738348960876},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06104123592376709},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8794464","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794464","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W1516488188","https://openalex.org/W1957820804","https://openalex.org/W2013439434","https://openalex.org/W2016214341","https://openalex.org/W2053940671","https://openalex.org/W2068127265","https://openalex.org/W2110307800","https://openalex.org/W2110762409","https://openalex.org/W2554423287","https://openalex.org/W2612636433","https://openalex.org/W2730083658","https://openalex.org/W2769646558","https://openalex.org/W2782864198","https://openalex.org/W2891172891","https://openalex.org/W2912365230","https://openalex.org/W2963190023","https://openalex.org/W6745805511"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2129850190","https://openalex.org/W4256317079","https://openalex.org/W2295425790","https://openalex.org/W2632090827","https://openalex.org/W2733539336","https://openalex.org/W2689112224","https://openalex.org/W2160792351","https://openalex.org/W1593091151","https://openalex.org/W1532965292"],"abstract_inverted_index":{"This":[0],"work":[1],"introduces":[2],"a":[3,31,84],"framework":[4,16,97],"for":[5,67],"the":[6,18,48,65,77,93,100,107],"Cartesian":[7,51],"control":[8,40,88],"of":[9,50,79,95],"multi-legged,":[10],"highly":[11],"redundant":[12],"robots.":[13],"The":[14],"proposed":[15],"allows":[17],"untrained":[19],"user":[20],"to":[21,37],"perform":[22],"complex":[23],"motion":[24,39],"tasks":[25],"with":[26],"robotics":[27],"platforms":[28],"by":[29],"leveraging":[30],"simple,":[32],"auto-generated":[33],"ROS-based":[34],"interface.":[35],"Contrary":[36],"other":[38],"frameworks":[41],"(e.g.":[42],"ROS":[43],"MoveIt!),":[44],"we":[45,75,91],"focus":[46],"on":[47,99,106],"execution":[49],"trajectories":[52],"that":[53],"are":[54],"specified":[55],"online,":[56],"rather":[57],"than":[58],"planned":[59],"in":[60,69],"advance,":[61],"as":[62],"it":[63],"is":[64],"case,":[66],"instance,":[68],"tele-operation":[70],"and":[71,105],"locomotion":[72],"tasks.":[73],"Moreover,":[74],"address":[76],"problem":[78],"generating":[80],"such":[81],"motions":[82],"within":[83],"hard":[85],"real-time":[86],"(RT)":[87],"loop.":[89],"Finally,":[90],"demonstrate":[92],"capabilities":[94],"our":[96],"both":[98],"COMAN":[101],"+":[102],"humanoid":[103],"robot,":[104],"hybrid":[108],"wheeled-legged":[109],"quadruped":[110],"CENTAURO.":[111]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":8}],"updated_date":"2026-04-09T06:08:40.794217","created_date":"2025-10-10T00:00:00"}