{"id":"https://openalex.org/W4416750639","doi":"https://doi.org/10.1109/iros60139.2025.11246742","title":"Braking Control in Clutched-Elastic Robots: Coordinating the Underactuation-to-Actuation Transition","display_name":"Braking Control in Clutched-Elastic Robots: Coordinating the Underactuation-to-Actuation Transition","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750639","doi":"https://doi.org/10.1109/iros60139.2025.11246742"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246742","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246742","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":"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/A5106018462","display_name":"Vasilije Rak\u010devi\u0107","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Vasilije Rak\u010devi\u0107","raw_affiliation_strings":["Technical University of Munich,Chair of Robotics and Systems Intelligence and the Munich Institute of Robotics and Machine Intelligence (MIRMI),Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Chair of Robotics and Systems Intelligence and the Munich Institute of Robotics and Machine Intelligence (MIRMI),Germany","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086057133","display_name":"Dennis Ossadnik","orcid":"https://orcid.org/0000-0002-5010-8402"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dennis Ossadnik","raw_affiliation_strings":["Technical University of Munich,Chair of Robotics and Systems Intelligence and the Munich Institute of Robotics and Machine Intelligence (MIRMI),Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Chair of Robotics and Systems Intelligence and the Munich Institute of Robotics and Machine Intelligence (MIRMI),Germany","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019022835","display_name":"Edmundo Pozo Fortuni\u0107","orcid":"https://orcid.org/0000-0003-2717-8506"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Edmundo Pozo Fortuni\u0107","raw_affiliation_strings":["Technical University of Munich,Chair of Robotics and Systems Intelligence and the Munich Institute of Robotics and Machine Intelligence (MIRMI),Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Chair of Robotics and Systems Intelligence and the Munich Institute of Robotics and Machine Intelligence (MIRMI),Germany","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001303098","display_name":"Mehmet C. Y\u0131ld\u0131r\u0131m","orcid":"https://orcid.org/0000-0002-2545-1962"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mehmet C. Yildirim","raw_affiliation_strings":["Technical University of Munich,Chair of Robotics and Systems Intelligence and the Munich Institute of Robotics and Machine Intelligence (MIRMI),Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Chair of Robotics and Systems Intelligence and the Munich Institute of Robotics and Machine Intelligence (MIRMI),Germany","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092227781","display_name":"Valentin Le Mesle","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Valentin Le Mesle","raw_affiliation_strings":["Technical University of Munich,Chair of Robotics and Systems Intelligence and the Munich Institute of Robotics and Machine Intelligence (MIRMI),Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Chair of Robotics and Systems Intelligence and the Munich Institute of Robotics and Machine Intelligence (MIRMI),Germany","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[{"id":"https://openalex.org/I4210113480","display_name":"Mohamed bin Zayed University of Artificial Intelligence","ror":"https://ror.org/0258gkt32","country_code":"AE","type":"education","lineage":["https://openalex.org/I4210113480"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Mohamed Bin Zayed University of Artificial Intelligence,Abu Dhabi,United Arab Emirates"],"affiliations":[{"raw_affiliation_string":"Mohamed Bin Zayed University of Artificial Intelligence,Abu Dhabi,United Arab Emirates","institution_ids":["https://openalex.org/I4210113480"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5106018462"],"corresponding_institution_ids":["https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.48483306,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"20467","last_page":"20472"},"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":0.26440000534057617,"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":0.26440000534057617,"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/T10868","display_name":"Soft Robotics and Applications","score":0.1842000037431717,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.11559999734163284,"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/control-theory","display_name":"Control theory (sociology)","score":0.7599999904632568},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6711000204086304},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.5726000070571899},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5593000054359436},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5167999863624573},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.47749999165534973},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.4187000095844269},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.40540000796318054},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.4007999897003174},{"id":"https://openalex.org/keywords/clutch","display_name":"Clutch","score":0.3962000012397766}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7599999904632568},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6711000204086304},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.5726000070571899},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5593000054359436},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5167999863624573},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.47749999165534973},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4641999900341034},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.4187000095844269},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.40540000796318054},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.4007999897003174},{"id":"https://openalex.org/C30358287","wikidata":"https://www.wikidata.org/wiki/Q194302","display_name":"Clutch","level":2,"score":0.3962000012397766},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.3824000060558319},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.37040001153945923},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.353300005197525},{"id":"https://openalex.org/C135402231","wikidata":"https://www.wikidata.org/wiki/Q898440","display_name":"Dissipation","level":2,"score":0.34599998593330383},{"id":"https://openalex.org/C162932704","wikidata":"https://www.wikidata.org/wiki/Q1058791","display_name":"Synchronizing","level":3,"score":0.3328000009059906},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33180001378059387},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.33079999685287476},{"id":"https://openalex.org/C154238967","wikidata":"https://www.wikidata.org/wiki/Q12870","display_name":"Explosive material","level":2,"score":0.3301999866962433},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.31349998712539673},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.3009999990463257},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2881999909877777},{"id":"https://openalex.org/C177918212","wikidata":"https://www.wikidata.org/wiki/Q803623","display_name":"Perturbation (astronomy)","level":2,"score":0.28529998660087585},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.27869999408721924},{"id":"https://openalex.org/C71976986","wikidata":"https://www.wikidata.org/wiki/Q30006","display_name":"Gravitational acceleration","level":3,"score":0.27390000224113464},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.2727000117301941},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.2632000148296356},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.25859999656677246},{"id":"https://openalex.org/C172849965","wikidata":"https://www.wikidata.org/wiki/Q3148875","display_name":"Reference frame","level":3,"score":0.2583000063896179},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.25609999895095825},{"id":"https://openalex.org/C129537906","wikidata":"https://www.wikidata.org/wiki/Q7603913","display_name":"State variable","level":2,"score":0.25600001215934753},{"id":"https://openalex.org/C121854251","wikidata":"https://www.wikidata.org/wiki/Q62932","display_name":"Elasticity (physics)","level":2,"score":0.25450000166893005},{"id":"https://openalex.org/C84551667","wikidata":"https://www.wikidata.org/wiki/Q155640","display_name":"Potential energy","level":2,"score":0.2542000114917755}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246742","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246742","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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1530960252","https://openalex.org/W1941843239","https://openalex.org/W1985406432","https://openalex.org/W1986090102","https://openalex.org/W2010750420","https://openalex.org/W2025938205","https://openalex.org/W2075762811","https://openalex.org/W2116113712","https://openalex.org/W2116364955","https://openalex.org/W2123871098","https://openalex.org/W2154777391","https://openalex.org/W2167848112","https://openalex.org/W2444119613","https://openalex.org/W2582670840","https://openalex.org/W2842089854","https://openalex.org/W4241368925","https://openalex.org/W4313063994","https://openalex.org/W4387730099","https://openalex.org/W4388918449","https://openalex.org/W4392001605","https://openalex.org/W4401200979","https://openalex.org/W4415524472"],"related_works":[],"abstract_inverted_index":{"Robots":[0],"with":[1,26,152],"intrinsic":[2],"joint":[3],"elasticity":[4],"can":[5,31],"perform":[6],"highly":[7],"dynamic":[8],"manoeuvres":[9],"by":[10,110],"leveraging":[11],"energy":[12],"storage":[13],"and":[14,40,112,138,155],"release,":[15],"enabling":[16],"explosive":[17],"motions":[18],"such":[19,53],"as":[20,62],"throwing.":[21],"By":[22],"augmenting":[23],"elastic":[24],"robots":[25],"clutch":[27],"mechanisms,":[28],"link":[29,65,118,135],"decoupling":[30],"be":[32,75],"used":[33],"to":[34,83],"fully":[35],"exploit":[36],"inertial":[37,122],"coupling":[38,123],"effects":[39],"gravitational":[41],"acceleration":[42],"in":[43,55],"motion":[44],"while":[45],"effectively":[46],"circumventing":[47],"spring":[48],"deflection":[49],"limits.":[50],"However,":[51],"braking":[52],"systems":[54],"a":[56,60,91,116,125,160],"decoupled":[57,117],"state":[58],"presents":[59],"challenge,":[61],"re-engaging":[63],"the":[64,68,97,100,104,134,143],"risks":[66],"damaging":[67],"joint.":[69],"While":[70],"optimal":[71,153],"control":[72,154],"strategies":[73],"could":[74],"applied,":[76],"they":[77],"are":[78,108],"not":[79],"inherently":[80],"safe":[81,126],"due":[82],"model":[84],"uncertainties.":[85],"To":[86],"address":[87],"this,":[88],"we":[89],"propose":[90],"feedback-based":[92],"two-stage":[93],"method":[94,147],"that":[95],"coordinates":[96],"transition":[98],"through":[99,148],"hybrid":[101],"modes":[102,107],"of":[103,145],"system.":[105],"These":[106],"characterized":[109],"underactuated":[111],"actuated":[113],"dynamics.":[114],"First,":[115],"is":[119,130,136],"braked":[120],"via":[121],"until":[124],"velocity":[127],"for":[128],"clutching":[129],"reached,":[131],"after":[132],"which":[133],"re-coupled":[137],"actively":[139],"braked.":[140],"We":[141],"demonstrate":[142],"effectiveness":[144],"this":[146],"simulations":[149],"comparing":[150],"it":[151,157],"validate":[156],"experimentally":[158],"using":[159],"physical":[161],"prototype.":[162]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}
