{"id":"https://openalex.org/W3129503641","doi":"https://doi.org/10.1109/iros45743.2020.9341134","title":"Catch the Ball: Accurate High-Speed Motions for Mobile Manipulators via Inverse Dynamics Learning","display_name":"Catch the Ball: Accurate High-Speed Motions for Mobile Manipulators via Inverse Dynamics Learning","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3129503641","doi":"https://doi.org/10.1109/iros45743.2020.9341134","mag":"3129503641"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341134","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341134","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5110369702","display_name":"Ke Dong","orcid":null},"institutions":[{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Ke Dong","raw_affiliation_strings":["Dynamic Systems Lab (www.dynsyslab.org), University of Toronto Institute for Aerospace Studies (UTIAS), and the Vector Institute for artificial Intelligence, Canada"],"affiliations":[{"raw_affiliation_string":"Dynamic Systems Lab (www.dynsyslab.org), University of Toronto Institute for Aerospace Studies (UTIAS), and the Vector Institute for artificial Intelligence, Canada","institution_ids":["https://openalex.org/I4210127509"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018836771","display_name":"Karime Pereida","orcid":"https://orcid.org/0000-0002-8576-2164"},"institutions":[{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Karime Pereida","raw_affiliation_strings":["Dynamic Systems Lab (www.dynsyslab.org), University of Toronto Institute for Aerospace Studies (UTIAS), and the Vector Institute for artificial Intelligence, Canada"],"affiliations":[{"raw_affiliation_string":"Dynamic Systems Lab (www.dynsyslab.org), University of Toronto Institute for Aerospace Studies (UTIAS), and the Vector Institute for artificial Intelligence, Canada","institution_ids":["https://openalex.org/I4210127509"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010648258","display_name":"Florian Shkurti","orcid":"https://orcid.org/0000-0002-5672-5831"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Florian Shkurti","raw_affiliation_strings":["University of Toronto, Canada"],"affiliations":[{"raw_affiliation_string":"University of Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052147335","display_name":"Angela P. Schoellig","orcid":"https://orcid.org/0000-0003-4012-4668"},"institutions":[{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Angela P. Schoellig","raw_affiliation_strings":["Dynamic Systems Lab (www.dynsyslab.org), University of Toronto Institute for Aerospace Studies (UTIAS), and the Vector Institute for artificial Intelligence, Canada"],"affiliations":[{"raw_affiliation_string":"Dynamic Systems Lab (www.dynsyslab.org), University of Toronto Institute for Aerospace Studies (UTIAS), and the Vector Institute for artificial Intelligence, Canada","institution_ids":["https://openalex.org/I4210127509"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5110369702"],"corresponding_institution_ids":["https://openalex.org/I4210127509"],"apc_list":null,"apc_paid":null,"fwci":1.3678,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.84055925,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"6718","last_page":"6725"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9994999766349792,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9988999962806702,"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/workspace","display_name":"Workspace","score":0.7592417597770691},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6868871450424194},{"id":"https://openalex.org/keywords/sequential-quadratic-programming","display_name":"Sequential quadratic programming","score":0.6530221104621887},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.6039925217628479},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.5904895663261414},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5518515706062317},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.5331546068191528},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.5213331580162048},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5101001858711243},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.41162699460983276},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39602962136268616},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3564547598361969},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35427552461624146},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32781097292900085},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.20500975847244263},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15950563549995422},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12955275177955627},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11830845475196838},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.09655553102493286}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7592417597770691},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6868871450424194},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.6530221104621887},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.6039925217628479},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.5904895663261414},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5518515706062317},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.5331546068191528},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.5213331580162048},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5101001858711243},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.41162699460983276},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39602962136268616},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3564547598361969},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35427552461624146},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32781097292900085},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.20500975847244263},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15950563549995422},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12955275177955627},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11830845475196838},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.09655553102493286},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341134","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341134","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1571530861","https://openalex.org/W1972009616","https://openalex.org/W2013439434","https://openalex.org/W2018020788","https://openalex.org/W2040227765","https://openalex.org/W2051155494","https://openalex.org/W2058718844","https://openalex.org/W2095905067","https://openalex.org/W2104277144","https://openalex.org/W2133493588","https://openalex.org/W2136379480","https://openalex.org/W2171461698","https://openalex.org/W2327315597","https://openalex.org/W2486095479","https://openalex.org/W2559098996","https://openalex.org/W2739477330","https://openalex.org/W2745007981","https://openalex.org/W2797121477","https://openalex.org/W2962816839","https://openalex.org/W2964050632","https://openalex.org/W4250589301","https://openalex.org/W6722571658"],"related_works":["https://openalex.org/W4206704743","https://openalex.org/W4313119266","https://openalex.org/W2164807043","https://openalex.org/W4231448069","https://openalex.org/W2019128690","https://openalex.org/W2128461291","https://openalex.org/W2355907103","https://openalex.org/W1495847109","https://openalex.org/W2270789747","https://openalex.org/W436931041"],"abstract_inverted_index":{"Mobile":[0],"manipulators":[1,34],"consist":[2],"of":[3,16,22,26,61,98,128,133,143,154],"a":[4,19,56,68,91,102,112,125,151],"mobile":[5,33,113],"platform":[6,115],"equipped":[7],"with":[8,111],"one":[9],"or":[10],"more":[11],"robot":[12,40],"arms":[13],"and":[14,30,84,89,149],"are":[15,35,52],"interest":[17],"for":[18,58,73,95],"wide":[20],"array":[21],"challenging":[23],"tasks":[24,62],"because":[25],"their":[27],"extended":[28],"workspace":[29],"dexterity.":[31],"Typically,":[32],"deployed":[36],"in":[37],"slow-motion":[38],"collaborative":[39],"scenarios.":[41],"In":[42],"this":[43,59,136],"paper,":[44],"we":[45,123],"consider":[46],"scenarios":[47],"where":[48,122],"accurate":[49],"high-speed":[50,99,118],"motions":[51,100],"required.":[53],"We":[54,107],"introduce":[55],"framework":[57,110],"regime":[60],"including":[63],"two":[64],"main":[65],"components:":[66],"(i)":[67],"bi-level":[69],"motion":[70],"optimization":[71],"algorithm":[72],"real-time":[74],"trajectory":[75],"generation,":[76],"which":[77],"relies":[78],"on":[79],"Sequential":[80],"Quadratic":[81,85],"Programming":[82,86],"(SQP)":[83],"(QP),":[87],"respectively;":[88],"(ii)":[90],"learning-based":[92],"controller":[93],"optimized":[94],"precise":[96],"tracking":[97],"via":[101],"learned":[103],"inverse":[104],"dynamics":[105],"model.":[106],"evaluate":[108],"our":[109,134],"manipulator":[114],"through":[116],"numerous":[117],"ball":[119],"catching":[120],"experiments,":[121],"show":[124],"success":[126,137],"rate":[127,138],"85.33%.":[129],"To":[130],"the":[131,140,155],"best":[132],"knowledge,":[135],"exceeds":[139],"reported":[141],"performance":[142],"existing":[144],"related":[145],"systems":[146],"[1],":[147],"[2]":[148],"sets":[150],"new":[152],"state":[153],"art.":[156]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}