{"id":"https://openalex.org/W4383108419","doi":"https://doi.org/10.1109/icra48891.2023.10160649","title":"Allowing Safe Contact in Robotic Goal-Reaching: Planning and Tracking in Operational and Null Spaces","display_name":"Allowing Safe Contact in Robotic Goal-Reaching: Planning and Tracking in Operational and Null Spaces","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108419","doi":"https://doi.org/10.1109/icra48891.2023.10160649"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160649","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160649","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5101715656","display_name":"Xinghao Zhu","orcid":"https://orcid.org/0009-0002-8078-1531"},"institutions":[{"id":"https://openalex.org/I4210099960","display_name":"Systems Control (United States)","ror":"https://ror.org/014tted12","country_code":"US","type":"company","lineage":["https://openalex.org/I4210099960"]},{"id":"https://openalex.org/I4210132863","display_name":"Science Factory","ror":"https://ror.org/041twma66","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210132863"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xinghao Zhu","raw_affiliation_strings":["UC Berkeley,Mechanical Systems Control Lab, Mechanical Engineering,CA,USA","Mechanical Systems Control Lab, Mechanical Engineering, UC Berkeley, CA, USA","X, The Moonshot Factory, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC Berkeley,Mechanical Systems Control Lab, Mechanical Engineering,CA,USA","institution_ids":["https://openalex.org/I4210099960"]},{"raw_affiliation_string":"Mechanical Systems Control Lab, Mechanical Engineering, UC Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"X, The Moonshot Factory, CA, USA","institution_ids":["https://openalex.org/I4210132863"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017678179","display_name":"Wenzhao Lian","orcid":"https://orcid.org/0000-0002-0995-8229"},"institutions":[{"id":"https://openalex.org/I4210105824","display_name":"Intrinsic LifeSciences (United States)","ror":"https://ror.org/01maah330","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105824"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenzhao Lian","raw_affiliation_strings":["Intrinsic Innovation LLC,CA,USA","Intrinsic Innovation LLC, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intrinsic Innovation LLC,CA,USA","institution_ids":["https://openalex.org/I4210105824"]},{"raw_affiliation_string":"Intrinsic Innovation LLC, CA, USA","institution_ids":["https://openalex.org/I4210105824"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065396441","display_name":"Bodi Yuan","orcid":"https://orcid.org/0000-0002-9689-2343"},"institutions":[{"id":"https://openalex.org/I4210132863","display_name":"Science Factory","ror":"https://ror.org/041twma66","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210132863"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bodi Yuan","raw_affiliation_strings":["X, The Moonshot Factory,CA,USA","X, The Moonshot Factory, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"X, The Moonshot Factory,CA,USA","institution_ids":["https://openalex.org/I4210132863"]},{"raw_affiliation_string":"X, The Moonshot Factory, CA, USA","institution_ids":["https://openalex.org/I4210132863"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012702521","display_name":"C. Daniel Freeman","orcid":"https://orcid.org/0000-0003-2258-2905"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. Daniel Freeman","raw_affiliation_strings":["Google Research,CA,USA","Google Research, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google Research,CA,USA","institution_ids":["https://openalex.org/I1291425158"]},{"raw_affiliation_string":"Google Research, CA, USA","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064077634","display_name":"Masayoshi Tomizuka","orcid":"https://orcid.org/0000-0003-0206-6639"},"institutions":[{"id":"https://openalex.org/I4210099960","display_name":"Systems Control (United States)","ror":"https://ror.org/014tted12","country_code":"US","type":"company","lineage":["https://openalex.org/I4210099960"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Masayoshi Tomizuka","raw_affiliation_strings":["UC Berkeley,Mechanical Systems Control Lab, Mechanical Engineering,CA,USA","Mechanical Systems Control Lab, Mechanical Engineering, UC Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC Berkeley,Mechanical Systems Control Lab, Mechanical Engineering,CA,USA","institution_ids":["https://openalex.org/I4210099960"]},{"raw_affiliation_string":"Mechanical Systems Control Lab, Mechanical Engineering, UC Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.3379,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.88628601,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"8120","last_page":"8126"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9907000064849854,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9767000079154968,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/computer-science","display_name":"Computer science","score":0.6916545629501343},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6666847467422485},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6386719942092896},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6173918843269348},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6012753248214722},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5683332085609436},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5179244875907898},{"id":"https://openalex.org/keywords/null","display_name":"Null (SQL)","score":0.5107765197753906},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.49833250045776367},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.43689629435539246},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3898082673549652},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.34501343965530396},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.32823121547698975},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2843221426010132},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1635441780090332},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.131587952375412},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07787096500396729},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.07144820690155029}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6916545629501343},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6666847467422485},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6386719942092896},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6173918843269348},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6012753248214722},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5683332085609436},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5179244875907898},{"id":"https://openalex.org/C203763787","wikidata":"https://www.wikidata.org/wiki/Q371029","display_name":"Null (SQL)","level":2,"score":0.5107765197753906},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.49833250045776367},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.43689629435539246},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3898082673549652},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.34501343965530396},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32823121547698975},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2843221426010132},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1635441780090332},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.131587952375412},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07787096500396729},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.07144820690155029},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160649","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160649","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1523815250","https://openalex.org/W1564897360","https://openalex.org/W1967377907","https://openalex.org/W1986152369","https://openalex.org/W2007724192","https://openalex.org/W2082965709","https://openalex.org/W2098030061","https://openalex.org/W2116039148","https://openalex.org/W2128082316","https://openalex.org/W2128722009","https://openalex.org/W2152329502","https://openalex.org/W2163823715","https://openalex.org/W2164032318","https://openalex.org/W2164429173","https://openalex.org/W2171714724","https://openalex.org/W2294424735","https://openalex.org/W2556538716","https://openalex.org/W2774475486","https://openalex.org/W2949623849","https://openalex.org/W2962793652","https://openalex.org/W2968748054","https://openalex.org/W2984249216","https://openalex.org/W3003629310","https://openalex.org/W3003640801","https://openalex.org/W3028308378","https://openalex.org/W3093334897","https://openalex.org/W3100172161","https://openalex.org/W3131649064","https://openalex.org/W3135570755","https://openalex.org/W3144633621","https://openalex.org/W3204858942","https://openalex.org/W3206316230","https://openalex.org/W3207349876","https://openalex.org/W3207637958","https://openalex.org/W3210579454","https://openalex.org/W4221153262","https://openalex.org/W4283819475","https://openalex.org/W4285739762","https://openalex.org/W4287113927","https://openalex.org/W4287641590","https://openalex.org/W4288885957","https://openalex.org/W4312771252","https://openalex.org/W4324106947","https://openalex.org/W6682910268","https://openalex.org/W6685177596","https://openalex.org/W6702989015","https://openalex.org/W6839435213"],"related_works":["https://openalex.org/W4317634134","https://openalex.org/W2889566344","https://openalex.org/W2981729160","https://openalex.org/W2951287487","https://openalex.org/W1570309050","https://openalex.org/W2743212448","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W3042530408"],"abstract_inverted_index":{"In":[0,72],"recent":[1],"years,":[2],"impressive":[3],"results":[4],"have":[5],"been":[6],"achieved":[7],"in":[8,32,66,99,122,137,140],"robotic":[9,56],"manipulation.":[10],"While":[11],"many":[12],"efforts":[13],"focus":[14],"on":[15,95],"generating":[16,60],"collision-free":[17,127],"reference":[18,64],"signals,":[19],"few":[20],"allow":[21],"safe":[22,53,113],"contact":[23,36,54,114],"between":[24,37],"the":[25,29,49,76,92],"robot":[26],"bodies":[27],"and":[28,39,43,58,61,69,87,102,118],"environment.":[30],"However,":[31],"human's":[33],"daily":[34],"manipulation,":[35],"arms":[38],"obstacles":[40],"is":[41,150],"prevalent":[42],"even":[44],"necessary.":[45],"This":[46],"paper":[47],"investigates":[48],"benefit":[50],"of":[51],"allowing":[52,112],"during":[55],"manipulation":[57],"advocates":[59],"tracking":[62],"compliance":[63],"signals":[65],"both":[67],"operational":[68,143],"null":[70,138],"spaces.":[71],"addition,":[73],"to":[74,142],"optimize":[75],"collision-allowed":[77],"trajectories,":[78],"we":[79,133],"present":[80],"a":[81,96],"hybrid":[82],"solver":[83],"that":[84,111,135],"integrates":[85],"sampling-":[86],"gradient-based":[88],"approaches.":[89],"We":[90,109],"evaluate":[91],"proposed":[93],"method":[94],"goal-reaching":[97,116],"task":[98],"five":[100],"simulated":[101],"real-world":[103],"environments":[104],"with":[105],"different":[106],"collisional":[107,124],"conditions.":[108],"show":[110],"improves":[115,145],"efficiency":[117],"provides":[119],"feasible":[120],"solutions":[121],"highly":[123],"scenarios":[125],"where":[126],"constraints":[128],"cannot":[129],"be":[130],"enforced.":[131],"Moreover,":[132],"demonstrate":[134],"planning":[136],"space,":[139,144],"addition":[141],"trajectory":[146],"safety.":[147],"Further":[148],"information":[149],"available":[151],"at":[152],"https://rolandzhu.github.io/ContactReach/.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}