{"id":"https://openalex.org/W4200504721","doi":"https://doi.org/10.1109/iros51168.2021.9636794","title":"Real-Time Safety and Control of Robotic Manipulators with Torque Saturation in Operational Space","display_name":"Real-Time Safety and Control of Robotic Manipulators with Torque Saturation in Operational Space","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200504721","doi":"https://doi.org/10.1109/iros51168.2021.9636794"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636794","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636794","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5081446239","display_name":"Muhammad Ali Murtaza","orcid":"https://orcid.org/0000-0002-9921-4257"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Muhammad Ali Murtaza","raw_affiliation_strings":["Institute of Robotics and Intelligent Machines, The Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Machines, The Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110506511","display_name":"Sergio Aguilera","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sergio Aguilera","raw_affiliation_strings":["Institute of Robotics and Intelligent Machines, The Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Machines, The Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024503743","display_name":"Vahid Azimi","orcid":"https://orcid.org/0000-0002-5694-3871"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vahid Azimi","raw_affiliation_strings":["Stanford University, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University, CA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071296935","display_name":"Seth Hutchinson","orcid":"https://orcid.org/0000-0002-3949-6061"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Seth Hutchinson","raw_affiliation_strings":["Institute of Robotics and Intelligent Machines, The Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Machines, The Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3938,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.73352436,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"702","last_page":"708"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9966999888420105,"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":0.9966999888420105,"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":0.9943000078201294,"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/T10142","display_name":"Formal Methods in Verification","score":0.9907000064849854,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/control-theory","display_name":"Control theory (sociology)","score":0.7025537490844727},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6978188753128052},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5540176033973694},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5305685997009277},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.529466986656189},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4706553518772125},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4601612091064453},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.4487239718437195},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.4459969997406006},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43804651498794556},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24376216530799866},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.21567001938819885},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21166399121284485},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20581156015396118},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17636552453041077}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7025537490844727},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6978188753128052},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5540176033973694},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5305685997009277},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.529466986656189},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4706553518772125},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4601612091064453},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.4487239718437195},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.4459969997406006},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43804651498794556},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24376216530799866},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.21567001938819885},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21166399121284485},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20581156015396118},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17636552453041077},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636794","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636794","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.550000011920929}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1964649988","https://openalex.org/W1980569135","https://openalex.org/W2104332709","https://openalex.org/W2110612452","https://openalex.org/W2171879251","https://openalex.org/W2489231587","https://openalex.org/W2569839618","https://openalex.org/W2588802774","https://openalex.org/W2793955514","https://openalex.org/W2967099712","https://openalex.org/W2968945909","https://openalex.org/W4249667877"],"related_works":["https://openalex.org/W2007405763","https://openalex.org/W3136087161","https://openalex.org/W1486373823","https://openalex.org/W2053762185","https://openalex.org/W2119578520","https://openalex.org/W2018238589","https://openalex.org/W2145980196","https://openalex.org/W1984283682","https://openalex.org/W2235865024","https://openalex.org/W2366374844"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,72,86,99,132],"real-time":[4],"safety":[5,39,80,142],"and":[6,15,34,36,110,129,145,171],"control":[7,12,16,55,70],"for":[8,62],"robot":[9,167],"manipulators":[10,144],"using":[11,168],"barrier":[13,56],"functions":[14,18],"Lyapunov":[17,107],"in":[19,28,71,94,131],"operational":[20,26],"space.":[21],"We":[22,96,121],"first":[23],"define":[24],"the":[25,47,51,63,68,79,137,141,147,153],"space":[27],"terms":[29],"of":[30,50,143,152,161],"system":[31],"dynamics,":[32],"jacobian,":[33],"torques":[35],"then":[37,122],"ensure":[38],"by":[40,66],"designing":[41],"Control":[42,106],"Barrier":[43],"Functions":[44],"(CBF)":[45],"around":[46],"body":[48],"links":[49],"robotic":[52,64],"manipulator.":[53],"The":[54,150],"function":[57],"provides":[58],"provable":[59],"collision-free":[60],"behavior":[61],"manipulator":[65],"modifying":[67],"nominal":[69],"minimally":[73],"invasive":[74],"manner":[75],"to":[76,113,126,135],"formally":[77],"satisfy":[78],"constraints.":[81],"CBFs":[82],"are":[83],"formulated":[84],"as":[85],"quadratic":[87,111],"programming":[88,112],"problem,":[89],"which":[90],"can":[91],"be":[92],"solved":[93],"real-time.":[95],"also":[97],"design":[98,136],"controller":[100,138],"based":[101],"on":[102,158],"Rapidly":[103],"Exponentially":[104],"Stabilizing":[105],"Function":[108],"(RESCLF)":[109],"meet":[114],"multiple":[115],"objectives":[116],"while":[117,139],"ensuring":[118,140],"exponential":[119],"convergence.":[120],"extend":[123],"our":[124],"formulation":[125,134],"solve":[127],"RESCLF":[128],"CBF":[130],"unified":[133],"guaranteeing":[146],"torque":[148],"saturation.":[149],"efficacy":[151],"proposed":[154],"approach":[155],"is":[156],"shown":[157],"7":[159],"Degree":[160],"Freedom":[162],"(DoF)":[163],"KUKA":[164],"LBR":[165],"iiwa":[166],"Dynamic":[169],"Animation":[170],"Robotics":[172],"Toolkit":[173],"(DART)":[174],"physics":[175],"engine.":[176]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
