{"id":"https://openalex.org/W4383108886","doi":"https://doi.org/10.1109/icra48891.2023.10160693","title":"Torque Control with Joints Position and Velocity Limits Avoidance","display_name":"Torque Control with Joints Position and Velocity Limits Avoidance","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108886","doi":"https://doi.org/10.1109/icra48891.2023.10160693"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160693","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra48891.2023.10160693","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/A5090009229","display_name":"Venus Pasandi","orcid":"https://orcid.org/0000-0002-1671-0547"},"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":"Venus Pasandi","raw_affiliation_strings":["Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy","Artificial and Mechanical Intelligence, Italian Institute of Technology, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Artificial and Mechanical Intelligence, Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081455901","display_name":"Daniele Pucci","orcid":"https://orcid.org/0000-0002-7600-3203"},"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":"Daniele Pucci","raw_affiliation_strings":["Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy","Artificial and Mechanical Intelligence, Italian Institute of Technology, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Artificial and Mechanical Intelligence, Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"5310","last_page":"5316"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994000196456909,"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":0.9983000159263611,"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/icub","display_name":"iCub","score":0.9130330085754395},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7950230240821838},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6424742937088013},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5990884900093079},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5242700576782227},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5187761783599854},{"id":"https://openalex.org/keywords/parametrization","display_name":"Parametrization (atmospheric modeling)","score":0.49670082330703735},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.476046085357666},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4313303828239441},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4270123839378357},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4213341772556305},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.3979288339614868},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3871525824069977},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3801904618740082},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23551219701766968},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19663074612617493},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.11385080218315125},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0918717086315155}],"concepts":[{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.9130330085754395},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7950230240821838},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6424742937088013},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5990884900093079},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5242700576782227},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5187761783599854},{"id":"https://openalex.org/C202887219","wikidata":"https://www.wikidata.org/wiki/Q3895221","display_name":"Parametrization (atmospheric modeling)","level":3,"score":0.49670082330703735},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.476046085357666},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4313303828239441},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4270123839378357},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4213341772556305},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.3979288339614868},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3871525824069977},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3801904618740082},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23551219701766968},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19663074612617493},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.11385080218315125},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0918717086315155},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C74902906","wikidata":"https://www.wikidata.org/wiki/Q1190858","display_name":"Radiative transfer","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160693","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra48891.2023.10160693","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":[{"id":"https://metadata.un.org/sdg/16","score":0.49000000953674316,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1542938076","https://openalex.org/W1560270123","https://openalex.org/W2018860673","https://openalex.org/W2062373349","https://openalex.org/W2145238401","https://openalex.org/W2167340365","https://openalex.org/W2510118794","https://openalex.org/W2526935822","https://openalex.org/W2900981373","https://openalex.org/W2979471310","https://openalex.org/W3000201833","https://openalex.org/W3094287715","https://openalex.org/W3098621578","https://openalex.org/W3162393831","https://openalex.org/W3205638004","https://openalex.org/W4200504721","https://openalex.org/W6802806192"],"related_works":["https://openalex.org/W2963178506","https://openalex.org/W4301244418","https://openalex.org/W2789446524","https://openalex.org/W2130280438","https://openalex.org/W3123424924","https://openalex.org/W2915059514","https://openalex.org/W2570508284","https://openalex.org/W2198321481","https://openalex.org/W1997666700","https://openalex.org/W2963637864"],"abstract_inverted_index":{"The":[0,57,75],"design":[1],"of":[2,15,19,64,103,118,136],"a":[3,20,35,143],"control":[4,29,37,80,111],"architecture":[5,38,59,112,138],"for":[6,39,43],"providing":[7],"the":[8,13,16,45,51,62,65,79,91,97,101,109,114,119,125,134,148],"desired":[9,46,120],"motion":[10],"along":[11,123],"with":[12,82,96,124],"realization":[14],"joint":[17,121],"limitation":[18],"robotic":[21],"system":[22],"is":[23],"still":[24],"an":[25,86],"open":[26],"challenge":[27],"in":[28],"and":[30,54,69,94,116,128,147],"robotics.":[31],"This":[32],"paper":[33],"presents":[34],"torque":[36],"fully":[40],"actuated":[41],"manipulators":[42],"tracking":[44],"time-varying":[47],"trajectory":[48,122],"while":[49],"ensuring":[50],"joints":[52,67,92,126],"position":[53,68,93,127],"velocity":[55,70,95,129],"limits.":[56],"presented":[58],"stems":[60],"from":[61],"parametrization":[63,77],"feasible":[66],"space":[71],"by":[72,89],"exogenous":[73,98],"states.":[74,99],"proposed":[76,110,137],"transforms":[78],"problem":[81],"constrained":[83],"states":[84],"to":[85],"un-constrained":[87],"one":[88],"replacing":[90],"With":[100],"help":[102],"Lyapunov-based":[104],"arguments,":[105],"we":[106],"prove":[107],"that":[108],"ensures":[113],"stability":[115],"convergence":[117],"limits":[130],"avoidance.":[131],"We":[132],"validate":[133],"performance":[135],"through":[139],"various":[140],"simulations":[141],"on":[142],"simple":[144],"two-degree-of-freedom":[145],"manipulator":[146],"humanoid":[149],"robot":[150],"iCub.":[151]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
