{"id":"https://openalex.org/W4392208050","doi":"https://doi.org/10.1109/tro.2024.3370049","title":"Hierarchical Incremental MPC for Redundant Robots: A Robust and Singularity-Free Approach","display_name":"Hierarchical Incremental MPC for Redundant Robots: A Robust and Singularity-Free Approach","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4392208050","doi":"https://doi.org/10.1109/tro.2024.3370049"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3370049","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2024.3370049","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/4359257/10449433.pdf","source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/8860/4359257/10449433.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100635293","display_name":"Yongchao Wang","orcid":"https://orcid.org/0000-0001-9738-3076"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Yongchao Wang","raw_affiliation_strings":["Chair of Automatic Control Engineering (LSR), Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0001-9738-3076","affiliations":[{"raw_affiliation_string":"Chair of Automatic Control Engineering (LSR), Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100356208","display_name":"Yang Liu","orcid":"https://orcid.org/0009-0000-9982-5819"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Yang Liu","raw_affiliation_strings":["Chair of Automatic Control Engineering (LSR), Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0009-0000-9982-5819","affiliations":[{"raw_affiliation_string":"Chair of Automatic Control Engineering (LSR), Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032338124","display_name":"Marion Leibold","orcid":"https://orcid.org/0000-0002-2802-5600"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marion Leibold","raw_affiliation_strings":["Chair of Automatic Control Engineering (LSR), Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0002-2802-5600","affiliations":[{"raw_affiliation_string":"Chair of Automatic Control Engineering (LSR), Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081223790","display_name":"Martin Buss","orcid":"https://orcid.org/0000-0002-1776-2752"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Buss","raw_affiliation_strings":["Chair of Automatic Control Engineering (LSR), Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0002-1776-2752","affiliations":[{"raw_affiliation_string":"Chair of Automatic Control Engineering (LSR), Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","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","Department of Mechanical Engineering, Korea Advanced Institute of Science & Technology (KAIST), Daejeon, Korea"],"raw_orcid":"https://orcid.org/0000-0002-4901-7095","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Weßling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science & Technology (KAIST), Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100635293"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":7.3999,"has_fulltext":true,"cited_by_count":24,"citation_normalized_percentile":{"value":0.97751744,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"40","issue":null,"first_page":"2128","last_page":"2148"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9991999864578247,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9991999864578247,"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/T10054","display_name":"Parallel Computing and Optimization Techniques","score":0.9693999886512756,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/T10876","display_name":"Fault Detection and Control Systems","score":0.968999981880188,"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/robot","display_name":"Robot","score":0.7178001403808594},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.5430223345756531},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5186640024185181},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49947357177734375},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.47134989500045776},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4266234338283539},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.42478036880493164},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4198126494884491},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4000508189201355},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2916510999202728},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2897501587867737},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.21879112720489502},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21358820796012878}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7178001403808594},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.5430223345756531},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5186640024185181},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49947357177734375},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.47134989500045776},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4266234338283539},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.42478036880493164},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4198126494884491},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4000508189201355},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2916510999202728},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2897501587867737},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.21879112720489502},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21358820796012878},{"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2024.3370049","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2024.3370049","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/4359257/10449433.pdf","source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:elib.dlr.de:203423","is_oa":true,"landing_page_url":"https://doi.org/10.1109/TRO.2024.3370049>.","pdf_url":"https://elib.dlr.de/203423/1/Hierarchical_Incremental_MPC_for_Redundant_Robots_A_Robust_and_Singularity-Free_Approach.pdf","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":"PeerReviewed"}],"best_oa_location":{"id":"doi:10.1109/tro.2024.3370049","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2024.3370049","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/4359257/10449433.pdf","source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4038561995","display_name":null,"funder_award_id":"62303484","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5320480239","display_name":null,"funder_award_id":"20014485","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"},{"id":"https://openalex.org/F4320334879","display_name":"Korea Evaluation Institute of Industrial Technology","ror":"https://ror.org/03z9cwa38"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4392208050.pdf","grobid_xml":"https://content.openalex.org/works/W4392208050.grobid-xml"},"referenced_works_count":68,"referenced_works":["https://openalex.org/W1508335918","https://openalex.org/W1769693814","https://openalex.org/W1771182989","https://openalex.org/W1955880755","https://openalex.org/W1964649988","https://openalex.org/W1968189907","https://openalex.org/W2002529332","https://openalex.org/W2005755983","https://openalex.org/W2009202498","https://openalex.org/W2013439434","https://openalex.org/W2019606703","https://openalex.org/W2028573862","https://openalex.org/W2061350632","https://openalex.org/W2066379939","https://openalex.org/W2078242231","https://openalex.org/W2085148928","https://openalex.org/W2100476631","https://openalex.org/W2112474089","https://openalex.org/W2113260111","https://openalex.org/W2123871098","https://openalex.org/W2126553772","https://openalex.org/W2129275525","https://openalex.org/W2152833354","https://openalex.org/W2154847670","https://openalex.org/W2158121031","https://openalex.org/W2164032318","https://openalex.org/W2168921921","https://openalex.org/W2208932597","https://openalex.org/W2419417828","https://openalex.org/W2523760000","https://openalex.org/W2557055507","https://openalex.org/W2588016079","https://openalex.org/W2590307769","https://openalex.org/W2607001947","https://openalex.org/W2608224837","https://openalex.org/W2619551236","https://openalex.org/W2744840904","https://openalex.org/W2765857190","https://openalex.org/W2774922731","https://openalex.org/W2783820429","https://openalex.org/W2794065691","https://openalex.org/W2802214905","https://openalex.org/W2842089854","https://openalex.org/W2884486007","https://openalex.org/W2891172891","https://openalex.org/W2895232265","https://openalex.org/W2914267398","https://openalex.org/W2914863619","https://openalex.org/W2964057140","https://openalex.org/W2982526735","https://openalex.org/W2988334419","https://openalex.org/W3004170189","https://openalex.org/W3005865645","https://openalex.org/W3009198376","https://openalex.org/W3047427107","https://openalex.org/W3048458458","https://openalex.org/W3081791272","https://openalex.org/W3100966471","https://openalex.org/W3105252106","https://openalex.org/W3119702752","https://openalex.org/W3130132038","https://openalex.org/W3211963501","https://openalex.org/W4206425228","https://openalex.org/W4211147054","https://openalex.org/W4212979708","https://openalex.org/W4220656190","https://openalex.org/W4250589301","https://openalex.org/W4281622689"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2351083540","https://openalex.org/W2953854768","https://openalex.org/W2389690162","https://openalex.org/W2039467239","https://openalex.org/W3202234113","https://openalex.org/W4231686530","https://openalex.org/W2101188133","https://openalex.org/W2060497234","https://openalex.org/W1980376593"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3],"model":[4,77],"predictive":[5],"control":[6,21,106],"(MPC)":[7],"method":[8],"for":[9,146],"redundant":[10,150],"robots":[11],"controlling":[12],"multiple":[13,164],"hierarchical":[14,28,115],"tasks":[15],"formulated":[16],"as":[17,50,85],"multi-layer":[18],"constrained":[19,81],"optimal":[20,105],"problems":[22,88],"(OCPs).":[23],"The":[24],"proposed":[25],"method,":[26],"named":[27],"incremental":[29,63],"MPC":[30],"(HIMPC),":[31],"is":[32,98,107,137],"robust":[33,62],"to":[34],"dynamic":[35,160],"uncertainties,":[36],"untethered":[37],"from":[38],"kinematic/algorithmic":[39],"singularities,":[40],"and":[41,46,53,104,111,117,158,166,171],"capable":[42],"of":[43,127,143,163],"handling":[44],"input":[45,110],"state":[47,112],"constraints":[48,103],"such":[49],"joint":[51],"torque":[52],"position":[54],"limits.":[55],"To":[56],"this":[57],"end,":[58],"we":[59],"first":[60],"derive":[61],"systems":[64],"that":[65],"approximate":[66],"uncertain":[67],"system":[68],"dynamics":[69],"without":[70],"computing":[71],"complex":[72],"nonlinear":[73,133],"functions":[74],"or":[75],"identifying":[76],"parameters.":[78],"Then":[79],"the":[80,124,140],"OCPs":[82],"are":[83,120,169],"cast":[84],"quadratic":[86],"programming":[87],"which":[89],"result":[90],"in":[91],"linear":[92],"MPC,":[93],"where":[94,153],"dynamically-consistent":[95],"task":[96],"priority":[97],"achieved":[99],"by":[100],"deploying":[101],"equality":[102],"attained":[108],"under":[109,139],"constraints.":[113],"Moreover,":[114],"feasibility":[116,119],"recursive":[118],"theoretically":[121],"proven.":[122],"Since":[123],"computational":[125],"complexity":[126],"HIMPC":[128],"drastically":[129],"decreases":[130],"compared":[131,172],"with":[132,149,173],"MPC-based":[134],"methods,":[135],"it":[136],"implemented":[138],"sampling":[141],"frequency":[142],"1":[144],"kHz":[145],"physical":[147],"experiments":[148],"manipulator":[151],"setups,":[152],"robustness":[154],"(high":[155],"tracking":[156],"accuracy":[157],"enhanced":[159],"consistency),":[161],"admissibility":[162],"constraints,":[165],"singularity-avoidance":[167],"nature":[168],"demonstrated":[170],"state-of-the-art":[174],"task-prioritized":[175],"controllers.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":3}],"updated_date":"2026-05-07T13:39:58.223016","created_date":"2025-10-10T00:00:00"}