{"id":"https://openalex.org/W3133921809","doi":"https://doi.org/10.1109/lra.2021.3068908","title":"A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation","display_name":"A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation","publication_year":2021,"publication_date":"2021-03-25","ids":{"openalex":"https://openalex.org/W3133921809","doi":"https://doi.org/10.1109/lra.2021.3068908","mag":"3133921809"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3068908","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3068908","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2103.00946","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079272729","display_name":"Jean-Pierre Sleiman","orcid":"https://orcid.org/0000-0002-9935-8787"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210123994","display_name":"SystemsX.ch","ror":"https://ror.org/02s09gf16","country_code":"CH","type":"facility","lineage":["https://openalex.org/I4210123994"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Jean-Pierre Sleiman","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","Robotic Systems Lab, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Robotic Systems Lab, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210123994"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040208292","display_name":"Farbod Farshidian","orcid":"https://orcid.org/0000-0001-8269-6272"},"institutions":[{"id":"https://openalex.org/I4210123994","display_name":"SystemsX.ch","ror":"https://ror.org/02s09gf16","country_code":"CH","type":"facility","lineage":["https://openalex.org/I4210123994"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Farbod Farshidian","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","Robotic Systems Lab, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Robotic Systems Lab, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210123994"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004921250","display_name":"Maria Vittoria Minniti","orcid":"https://orcid.org/0000-0001-7272-0937"},"institutions":[{"id":"https://openalex.org/I4210123994","display_name":"SystemsX.ch","ror":"https://ror.org/02s09gf16","country_code":"CH","type":"facility","lineage":["https://openalex.org/I4210123994"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Maria Vittoria Minniti","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","Robotic Systems Lab, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Robotic Systems Lab, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210123994"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044258783","display_name":"Marco Hutter","orcid":"https://orcid.org/0000-0002-4285-4990"},"institutions":[{"id":"https://openalex.org/I4210123994","display_name":"SystemsX.ch","ror":"https://ror.org/02s09gf16","country_code":"CH","type":"facility","lineage":["https://openalex.org/I4210123994"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marco Hutter","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","Robotic Systems Lab, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Robotic Systems Lab, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210123994"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5079272729"],"corresponding_institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210123994"],"apc_list":null,"apc_paid":null,"fwci":0.4247,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.55985172,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"6","issue":"3","first_page":"4688","last_page":"4695"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9975000023841858,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9975000023841858,"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":0.9970999956130981,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.994700014591217,"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/computer-science","display_name":"Computer science","score":0.6539716124534607},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5582672357559204},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.543615996837616},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.485708087682724},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.47917285561561584},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4752599895000458},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.45129865407943726},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44167277216911316},{"id":"https://openalex.org/keywords/schedule","display_name":"Schedule","score":0.4412979483604431},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.43923309445381165},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35421162843704224},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3384626805782318},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.324870765209198},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31591153144836426},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21891632676124573},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20780080556869507}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6539716124534607},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5582672357559204},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.543615996837616},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.485708087682724},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.47917285561561584},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4752599895000458},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.45129865407943726},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44167277216911316},{"id":"https://openalex.org/C68387754","wikidata":"https://www.wikidata.org/wiki/Q7271585","display_name":"Schedule","level":2,"score":0.4412979483604431},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.43923309445381165},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35421162843704224},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3384626805782318},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.324870765209198},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31591153144836426},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21891632676124573},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20780080556869507},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/lra.2021.3068908","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3068908","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2103.00946","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.00946","pdf_url":"https://arxiv.org/pdf/2103.00946","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/476411","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/476411","pdf_url":"http://hdl.handle.net/20.500.11850/476411","source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 6 (3)","raw_type":"info:eu-repo/semantics/acceptedVersion"},{"id":"mag:3133921809","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2103.00946","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2103.00946","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2103.00946","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"},{"id":"doi:10.3929/ethz-b-000476411","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000476411","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","issn_l":null,"issn":[],"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":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2103.00946","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.00946","pdf_url":"https://arxiv.org/pdf/2103.00946","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.7799999713897705,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G6442921865","display_name":null,"funder_award_id":"National Centre of Competence in Re","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"},{"id":"https://openalex.org/G6620737523","display_name":null,"funder_award_id":"National Centre of Competence in Research Robotics","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"},{"id":"https://openalex.org/F4320326765","display_name":"National Centre of Competence in Research Robotics","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W28293053","https://openalex.org/W658381347","https://openalex.org/W1661823234","https://openalex.org/W2019606703","https://openalex.org/W2020113631","https://openalex.org/W2049670620","https://openalex.org/W2061983716","https://openalex.org/W2112474089","https://openalex.org/W2127763473","https://openalex.org/W2143729862","https://openalex.org/W2154847670","https://openalex.org/W2167856595","https://openalex.org/W2198582666","https://openalex.org/W2204604557","https://openalex.org/W2529220408","https://openalex.org/W2571115941","https://openalex.org/W2744484133","https://openalex.org/W2762555062","https://openalex.org/W2771691050","https://openalex.org/W2788030459","https://openalex.org/W2906487027","https://openalex.org/W2909331752","https://openalex.org/W2920812058","https://openalex.org/W2944561196","https://openalex.org/W2946224784","https://openalex.org/W2970228732","https://openalex.org/W3029645440","https://openalex.org/W3081791272","https://openalex.org/W3089564096","https://openalex.org/W3103075896","https://openalex.org/W3105372678","https://openalex.org/W3121226895","https://openalex.org/W3180158572","https://openalex.org/W4230405224","https://openalex.org/W6621933325"],"related_works":["https://openalex.org/W2995020454","https://openalex.org/W3148610713","https://openalex.org/W2967075852","https://openalex.org/W2312514762","https://openalex.org/W3212299623","https://openalex.org/W2808228599","https://openalex.org/W3003894547","https://openalex.org/W3133587555","https://openalex.org/W3041222106","https://openalex.org/W2041753526","https://openalex.org/W2953250718","https://openalex.org/W3140854545","https://openalex.org/W3157447782","https://openalex.org/W2004735736","https://openalex.org/W2743645497","https://openalex.org/W1964985012","https://openalex.org/W3154848395","https://openalex.org/W2810927350","https://openalex.org/W2051473563","https://openalex.org/W2792213791"],"abstract_inverted_index":{"In":[0],"this":[1],"letter,":[2],"we":[3],"propose":[4],"a":[5,18,30,36,41,112,121,140],"whole-body":[6],"planning":[7,99],"framework":[8,100],"that":[9,45],"unifies":[10],"dynamic":[11],"locomotion":[12],"and":[13,39,137,148],"manipulation":[14,53],"tasks":[15],"by":[16,74],"formulating":[17],"single":[19],"multi-contact":[20],"optimal":[21],"control":[22,115],"problem.":[23],"We":[24],"model":[25,113,146],"the":[26,56,59,68,76,81,93,105],"hybrid":[27],"nature":[28],"of":[29,43,70,123],"generic":[31],"multi-limbed":[32],"mobile":[33],"manipulator":[34],"as":[35,131],"switched":[37],"system,":[38],"introduce":[40],"set":[42,122],"constraints":[44],"can":[46],"encode":[47],"any":[48,89],"pre-defined":[49],"gait":[50],"sequence":[51],"or":[52,133],"schedule":[54],"in":[55,92,109,120,128],"formulation.":[57],"Since":[58],"system":[60],"is":[61,118,151],"designed":[62],"to":[63,87],"actively":[64],"manipulate":[65],"its":[66],"environment,":[67],"equations":[69],"motion":[71],"are":[72],"composed":[73],"augmenting":[75],"robot's":[77,106],"centroidal":[78],"dynamics":[79],"with":[80],"manipulated-object":[82],"dynamics.":[83],"This":[84,117],"allows":[85],"us":[86],"describe":[88],"high-level":[90],"task":[91],"same":[94],"cost/constraint":[95],"function.":[96],"The":[97],"resulting":[98],"could":[101],"be":[102],"solved":[103],"on":[104],"onboard":[107],"computer":[108],"real-time":[110],"within":[111],"predictive":[114],"scheme.":[116],"demonstrated":[119],"real":[124],"hardware":[125],"experiments":[126],"done":[127],"free-motion,":[129],"such":[130],"base":[132],"end-effector":[134],"pose":[135],"tracking,":[136],"while":[138],"pushing/pulling":[139],"heavy":[141],"resistive":[142],"door.":[143],"Robustness":[144],"against":[145],"mismatches":[147],"external":[149],"disturbances":[150],"also":[152],"verified":[153],"during":[154],"these":[155],"test":[156],"cases.":[157]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
