{"id":"https://openalex.org/W4416748651","doi":"https://doi.org/10.1109/iros60139.2025.11245842","title":"Human-Robot Cooperative Heavy Payload Manipulation based on Whole-Body Model Predictive Control","display_name":"Human-Robot Cooperative Heavy Payload Manipulation based on Whole-Body Model Predictive Control","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748651","doi":"https://doi.org/10.1109/iros60139.2025.11245842"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11245842","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245842","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5100387218","display_name":"Ning Wang","orcid":"https://orcid.org/0000-0003-2814-4017"},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ning Wang","raw_affiliation_strings":["The Shenzhen Institute of Artificial Intelligence and Robotics for Society,Shenzhen,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Shenzhen Institute of Artificial Intelligence and Robotics for Society,Shenzhen,China","institution_ids":["https://openalex.org/I4210104064"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010695158","display_name":"Shuo Liu","orcid":"https://orcid.org/0009-0005-1085-4426"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuo Liu","raw_affiliation_strings":["Shanghai Jiao Tong University,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076185690","display_name":"Tin Lun Lam","orcid":"https://orcid.org/0000-0002-6363-1446"},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tin Lun Lam","raw_affiliation_strings":["The Shenzhen Institute of Artificial Intelligence and Robotics for Society,Shenzhen,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Shenzhen Institute of Artificial Intelligence and Robotics for Society,Shenzhen,China","institution_ids":["https://openalex.org/I4210104064"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101591101","display_name":"Tianwei Zhang","orcid":"https://orcid.org/0000-0001-6595-6650"},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianwei Zhang","raw_affiliation_strings":["The Shenzhen Institute of Artificial Intelligence and Robotics for Society,Shenzhen,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Shenzhen Institute of Artificial Intelligence and Robotics for Society,Shenzhen,China","institution_ids":["https://openalex.org/I4210104064"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"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":null,"issue":null,"first_page":"15037","last_page":"15043"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.5217999815940857,"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":0.5217999815940857,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.13860000669956207,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.09200000017881393,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6886000037193298},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6797999739646912},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6736999750137329},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6474999785423279},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5102999806404114},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4675000011920929},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4659000039100647},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4528999924659729}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6886000037193298},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6797999739646912},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6736999750137329},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6474999785423279},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6323999762535095},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5285000205039978},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5102999806404114},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4675000011920929},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4659000039100647},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4528999924659729},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39399999380111694},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3741999864578247},{"id":"https://openalex.org/C2984730371","wikidata":"https://www.wikidata.org/wiki/Q6501221","display_name":"Feedback controller","level":3,"score":0.34709998965263367},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3443000018596649},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.31839999556541443},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.298799991607666},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2831999957561493},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2802000045776367},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2694999873638153}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11245842","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245842","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2737237872","https://openalex.org/W2798884954","https://openalex.org/W3042402313","https://openalex.org/W3129266973","https://openalex.org/W3131732893","https://openalex.org/W4280571816","https://openalex.org/W4293049973","https://openalex.org/W4313562879","https://openalex.org/W4383097422","https://openalex.org/W4389609887","https://openalex.org/W4392369313","https://openalex.org/W4400645581","https://openalex.org/W4404955661","https://openalex.org/W4416602623"],"related_works":[],"abstract_inverted_index":{"Human-robot":[0],"collaborative":[1,41,45,52,101],"manipulation":[2],"with":[3,60,72],"mobile,":[4],"multiple":[5],"manipulators":[6],"is":[7],"crucial":[8],"for":[9],"expanding":[10],"robotic":[11],"applications,":[12],"requiring":[13],"precise":[14],"handling":[15],"of":[16],"coupled":[17],"force-position":[18],"constraints":[19],"between":[20],"partners.":[21],"Current":[22],"systems,":[23],"however,":[24],"exhibit":[25],"end-effector":[26,81],"oscillations":[27],"and":[28,47,64,107],"instability":[29],"during":[30],"dynamic":[31],"interactions.":[32],"To":[33],"overcome":[34],"these":[35],"limitations,":[36],"this":[37],"work":[38],"develops":[39],"a":[40,44,48],"framework":[42],"integrating":[43],"controller":[46,53,76,85],"whole-body":[49,84],"controller.":[50],"The":[51,83],"employs":[54],"the":[55,79,100,111],"object\u2019s":[56],"center-of-mass":[57],"dynamics":[58],"model":[59,87],"real-time":[61],"contact":[62],"forces":[63],"motion":[65],"states":[66],"to":[67,77,90],"predict":[68],"trajectories":[69],"while":[70],"coordinating":[71],"an":[73],"attitude":[74],"stabilization":[75],"adjust":[78],"desired":[80],"poses.":[82],"utilizes":[86],"predictive":[88],"control":[89],"generate":[91],"coordinated":[92],"motions":[93],"that":[94],"strictly":[95],"follow":[96],"pose":[97],"commands":[98],"from":[99],"controller,":[102],"ensuring":[103],"stable":[104],"transportation.":[105],"Simulation":[106],"physical":[108],"experiments":[109],"validate":[110],"proposed":[112],"framework\u2019s":[113],"effectiveness":[114],"in":[115],"real-world":[116],"scenarios.":[117]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}
