{"id":"https://openalex.org/W4389665378","doi":"https://doi.org/10.1109/iros55552.2023.10341950","title":"Extensions to Dynamically-Consistent Collision Reaction Control for Collaborative Robots","display_name":"Extensions to Dynamically-Consistent Collision Reaction Control for Collaborative Robots","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665378","doi":"https://doi.org/10.1109/iros55552.2023.10341950"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341950","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341950","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5043876566","display_name":"Marie Harder","orcid":"https://orcid.org/0000-0001-7188-7233"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marie Harder","raw_affiliation_strings":["Institute of Robotics and Mechatronics,German Aerospace Center (DLR),Weßling,Germany,82234"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics,German Aerospace Center (DLR),Weßling,Germany,82234","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057724166","display_name":"Maged Iskandar","orcid":"https://orcid.org/0000-0003-0644-0659"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maged Iskandar","raw_affiliation_strings":["Institute of Robotics and Mechatronics,German Aerospace Center (DLR),Weßling,Germany,82234"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics,German Aerospace Center (DLR),Weßling,Germany,82234","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017250304","display_name":"Jinoh Lee","orcid":"https://orcid.org/0000-0002-4901-7095"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]},{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE","KR"],"is_corresponding":false,"raw_author_name":"Jinoh Lee","raw_affiliation_strings":["Institute of Robotics and Mechatronics,German Aerospace Center (DLR),Weßling,Germany,82234","Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics,German Aerospace Center (DLR),Weßling,Germany,82234","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014764259","display_name":"Alexander Dietrich","orcid":"https://orcid.org/0000-0003-3463-5074"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Dietrich","raw_affiliation_strings":["Institute of Robotics and Mechatronics,German Aerospace Center (DLR),Weßling,Germany,82234"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics,German Aerospace Center (DLR),Weßling,Germany,82234","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5982","last_page":"5988"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9986000061035156,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9973999857902527,"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/collision","display_name":"Collision","score":0.837963342666626},{"id":"https://openalex.org/keywords/reaction","display_name":"Reaction","score":0.7516566514968872},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7422186732292175},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5710858106613159},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.5693754553794861},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5677339434623718},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5645601749420166},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5330124497413635},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5313048362731934},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.499863862991333},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4750904142856598},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46897992491722107},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4408615827560425},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4169427156448364},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35383081436157227},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3448290228843689},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2473168671131134},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19924163818359375},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1253761649131775},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10459119081497192},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.0830615758895874},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.07394397258758545}],"concepts":[{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.837963342666626},{"id":"https://openalex.org/C99664630","wikidata":"https://www.wikidata.org/wiki/Q343546","display_name":"Reaction","level":2,"score":0.7516566514968872},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7422186732292175},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5710858106613159},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.5693754553794861},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5677339434623718},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5645601749420166},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5330124497413635},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5313048362731934},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.499863862991333},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4750904142856598},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46897992491722107},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4408615827560425},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4169427156448364},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35383081436157227},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3448290228843689},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2473168671131134},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19924163818359375},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1253761649131775},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10459119081497192},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0830615758895874},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.07394397258758545},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/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":3,"locations":[{"id":"doi:10.1109/iros55552.2023.10341950","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341950","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:201019","is_oa":false,"landing_page_url":"https://doi.org/10.1109/IROS55552.2023.10341950>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Konferenzbeitrag"},{"id":"pmh:oai:elib.dlr.de:195858","is_oa":false,"landing_page_url":"https://elib.dlr.de/195858/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzbeitrag"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1915593659","https://openalex.org/W2015016121","https://openalex.org/W2066379939","https://openalex.org/W2084828843","https://openalex.org/W2110987513","https://openalex.org/W2121991065","https://openalex.org/W2122796850","https://openalex.org/W2126654773","https://openalex.org/W2128722009","https://openalex.org/W2131292439","https://openalex.org/W2135569231","https://openalex.org/W2137165191","https://openalex.org/W2144907335","https://openalex.org/W2149085596","https://openalex.org/W2150024155","https://openalex.org/W2154777391","https://openalex.org/W2163381643","https://openalex.org/W2164264801","https://openalex.org/W2164833077","https://openalex.org/W2762248135","https://openalex.org/W2889571560","https://openalex.org/W2967173189","https://openalex.org/W2981030566","https://openalex.org/W3189637118","https://openalex.org/W3205225162","https://openalex.org/W4280638736"],"related_works":["https://openalex.org/W2361971697","https://openalex.org/W4317634134","https://openalex.org/W2003273776","https://openalex.org/W2981729160","https://openalex.org/W2998672579","https://openalex.org/W2073521456","https://openalex.org/W2197323063","https://openalex.org/W2742341619","https://openalex.org/W2753772722","https://openalex.org/W2568176029"],"abstract_inverted_index":{"Since":[0],"modern":[1],"robots":[2],"are":[3,100],"supposed":[4],"to":[5],"work":[6],"closely":[7],"together":[8],"with":[9,113],"humans,":[10],"physical":[11,35],"human-robot":[12],"interaction":[13],"is":[14,23,30,51,85,110],"gaining":[15],"importance.":[16],"One":[17],"crucial":[18],"aspect":[19],"for":[20,94,117],"safe":[21],"collaboration":[22],"a":[24,42,114,126],"robust":[25],"collision":[26,44,95,118],"reaction":[27,45,82,108],"strategy":[28],"that":[29],"triggered":[31],"after":[32],"an":[33],"unintentional":[34],"contact.":[36],"In":[37,78],"this":[38],"work,":[39],"we":[40],"propose":[41],"dynamically-consistent":[43],"controller,":[46],"where":[47],"the":[48,63,76,80],"reactive":[49],"motion":[50],"performed":[52],"in":[53,58,68,102],"one":[54],"particular":[55],"desired":[56],"direction":[57],"Cartesian":[59],"space,":[60],"without":[61],"disturbing":[62],"remaining":[64],"ones.":[65],"This":[66],"results":[67],"more":[69,72],"intuitive":[70],"and":[71,89,104],"predictable":[73],"behavior":[74],"of":[75,87],"end-effector.":[77],"addition,":[79],"proposed":[81,107],"control":[83],"law":[84],"independent":[86],"contact":[88],"internal":[90],"observer":[91],"dynamics":[92],"used":[93],"detection.":[96],"The":[97,106],"theoretical":[98],"claims":[99],"validated":[101],"simulation":[103],"experiments.":[105],"controller":[109],"experimentally":[111],"compared":[112],"conventional":[115],"approach":[116],"reaction.":[119],"All":[120],"experiments":[121],"have":[122],"been":[123],"conducted":[124],"on":[125],"torque":[127],"controlled":[128],"KUKA":[129],"LWR":[130],"IV":[131],"+":[132],"lightweight":[133],"robot.":[134]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}