{"id":"https://openalex.org/W4401415101","doi":"https://doi.org/10.1109/icra57147.2024.10610813","title":"Geometric Slosh-Free Tracking for Robotic Manipulators","display_name":"Geometric Slosh-Free Tracking for Robotic Manipulators","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415101","doi":"https://doi.org/10.1109/icra57147.2024.10610813"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610813","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610813","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 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/A5017318381","display_name":"Jon Arrizabalaga","orcid":"https://orcid.org/0000-0001-6997-6958"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Jon Arrizabalaga","raw_affiliation_strings":["Technical University of Munich,Autonomous Aerial Systems, School of Engineering and Design,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Autonomous Aerial Systems, School of Engineering and Design,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093902743","display_name":"Lukas Pries","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lukas Pries","raw_affiliation_strings":["Technical University of Munich,Autonomous Aerial Systems, School of Engineering and Design,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Autonomous Aerial Systems, School of Engineering and Design,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078684534","display_name":"Riddhiman Laha","orcid":"https://orcid.org/0000-0001-8527-0445"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Riddhiman Laha","raw_affiliation_strings":["Technical University of Munich,Munich Institute of Robotics and Machine Intelligence (MIRMI)"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Munich Institute of Robotics and Machine Intelligence (MIRMI)","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104242015","display_name":"Runkang Li","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Runkang Li","raw_affiliation_strings":["Technical University of Munich,Munich Institute of Robotics and Machine Intelligence (MIRMI)"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Munich Institute of Robotics and Machine Intelligence (MIRMI)","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Technical University of Munich,Munich Institute of Robotics and Machine Intelligence (MIRMI)"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Munich Institute of Robotics and Machine Intelligence (MIRMI)","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018909750","display_name":"Markus Ryll","orcid":"https://orcid.org/0000-0003-2203-2946"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Markus Ryll","raw_affiliation_strings":["Technical University of Munich,Autonomous Aerial Systems, School of Engineering and Design,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Autonomous Aerial Systems, School of Engineering and Design,Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5017318381"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.6989,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.69917825,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1226","last_page":"1232"},"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":0.9998000264167786,"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":0.9998000264167786,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","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":0.9995999932289124,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/slosh-dynamics","display_name":"Slosh dynamics","score":0.8625102043151855},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6486365795135498},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5343825817108154},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.48011159896850586},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.471417635679245},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46463823318481445},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3799772262573242},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2794818878173828},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2779531478881836},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2582845687866211},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13754388689994812}],"concepts":[{"id":"https://openalex.org/C142784634","wikidata":"https://www.wikidata.org/wiki/Q1129460","display_name":"Slosh dynamics","level":2,"score":0.8625102043151855},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6486365795135498},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5343825817108154},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.48011159896850586},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.471417635679245},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46463823318481445},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3799772262573242},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2794818878173828},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2779531478881836},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2582845687866211},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13754388689994812},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610813","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610813","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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":32,"referenced_works":["https://openalex.org/W2067704779","https://openalex.org/W2081857580","https://openalex.org/W2086742543","https://openalex.org/W2109656638","https://openalex.org/W2127454360","https://openalex.org/W2132294818","https://openalex.org/W2133284507","https://openalex.org/W2141435354","https://openalex.org/W2154458542","https://openalex.org/W2159307101","https://openalex.org/W2162991084","https://openalex.org/W2165109901","https://openalex.org/W2221867637","https://openalex.org/W2227111361","https://openalex.org/W2344024894","https://openalex.org/W2505886017","https://openalex.org/W2749863061","https://openalex.org/W2909258394","https://openalex.org/W2964227849","https://openalex.org/W2967549933","https://openalex.org/W3048679239","https://openalex.org/W3092899697","https://openalex.org/W3205487646","https://openalex.org/W3210637564","https://openalex.org/W4205999401","https://openalex.org/W4214570817","https://openalex.org/W4250589301","https://openalex.org/W4312334342","https://openalex.org/W4376851120","https://openalex.org/W6689225223","https://openalex.org/W6726029620","https://openalex.org/W6743200680"],"related_works":["https://openalex.org/W4238458658","https://openalex.org/W3213839729","https://openalex.org/W2753073204","https://openalex.org/W324942907","https://openalex.org/W1979214824","https://openalex.org/W2381705136","https://openalex.org/W190531548","https://openalex.org/W2685330831","https://openalex.org/W1972570117","https://openalex.org/W2320098853"],"abstract_inverted_index":{"This":[0,38],"work":[1],"focuses":[2],"on":[3,26,64,118,143],"the":[4,42,46,66,90,110,133],"agile":[5],"transportation":[6],"of":[7,92,112,132],"liquids":[8],"with":[9],"robotic":[10],"manipulators.":[11],"In":[12],"contrast":[13],"to":[14,50,83],"existing":[15],"methods":[16],"that":[17],"are":[18,123],"either":[19],"computationally":[20],"heavy,":[21],"system/container":[22],"specific":[23],"or":[24],"dependant":[25],"a":[27,33,70,85,93,113,126,144],"singularity-prone":[28],"pendulum":[29],"model,":[30],"we":[31],"present":[32],"real-time":[34],"slosh-free":[35,76,86,99],"tracking":[36],"technique.":[37],"method":[39],"solely":[40],"requires":[41],"reference":[43,87,100],"trajectory":[44],"and":[45,77,140],"robot\u2019s":[47],"kinematic":[48],"constraints":[49],"output":[51],"kinematically":[52],"feasible":[53,127],"joint":[54,128],"space":[55,105],"commands.":[56],"The":[57,130],"crucial":[58],"element":[59],"underlying":[60],"this":[61,98],"approach":[62,135],"consists":[63],"mimicking":[65],"end-effector\u2019s":[67],"motion":[68],"through":[69],"virtual":[71],"quadrotor,":[72],"which":[73],"is":[74,101,136],"inherently":[75],"differentially":[78],"flat,":[79],"thereby":[80],"allowing":[81],"us":[82],"calculate":[84],"orientation.":[88],"Through":[89],"utilization":[91],"cascaded":[94],"proportional-derivative":[95],"(PD)":[96],"controller,":[97],"transformed":[102],"into":[103,125],"task":[104],"acceleration":[106],"commands,":[107],"which,":[108],"following":[109],"resolution":[111],"Quadratic":[114],"Program":[115],"(QP)":[116],"based":[117],"Resolved":[119],"Acceleration":[120],"Control":[121],"(RAC),":[122],"translated":[124],"configuration.":[129],"validity":[131],"proposed":[134],"demonstrated":[137],"by":[138],"simulated":[139],"real-world":[141],"experiments":[142],"7":[145],"DoF":[146],"Franka":[147],"Emika":[148],"Panda":[149],"robot.":[150]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}