{"id":"https://openalex.org/W4294691804","doi":"https://doi.org/10.23919/acc53348.2022.9867812","title":"Robot Control for Simultaneous Impact tasks via Quadratic Programming-based Reference Spreading","display_name":"Robot Control for Simultaneous Impact tasks via Quadratic Programming-based Reference Spreading","publication_year":2022,"publication_date":"2022-06-08","ids":{"openalex":"https://openalex.org/W4294691804","doi":"https://doi.org/10.23919/acc53348.2022.9867812"},"language":"en","primary_location":{"id":"doi:10.23919/acc53348.2022.9867812","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867812","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","issn_l":null,"issn":null,"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pure.tue.nl/ws/files/306531599/Robot_Control_for_Simultaneous_Impact_tasks_via_Quadratic_Programming-based_Reference_Spreading.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017068447","display_name":"Jari J. van Steen","orcid":"https://orcid.org/0000-0001-6913-7695"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jari J. van Steen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004028181","display_name":"Nathan van de Wouw","orcid":"https://orcid.org/0000-0002-6745-9137"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nathan van de Wouw","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5076959215","display_name":"Alessandro Saccon","orcid":"https://orcid.org/0000-0001-5318-1747"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alessandro Saccon","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.3589,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.97647659,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3865","last_page":"3872"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9991000294685364,"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":0.9861999750137329,"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/computer-science","display_name":"Computer science","score":0.6420336365699768},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.6319559216499329},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6156007051467896},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5875680446624756},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5223178267478943},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47663769125938416},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4354356527328491},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3822292685508728},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2594076991081238},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.22322571277618408},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19653195142745972},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1443495750427246}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6420336365699768},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.6319559216499329},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6156007051467896},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5875680446624756},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5223178267478943},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47663769125938416},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4354356527328491},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3822292685508728},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2594076991081238},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.22322571277618408},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19653195142745972},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1443495750427246},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/acc53348.2022.9867812","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867812","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","issn_l":null,"issn":null,"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.tue.nl:openaire_cris_publications/19e6650e-0981-4385-85a9-fd08fcb16ca1","is_oa":true,"landing_page_url":"https://research.tue.nl/en/publications/19e6650e-0981-4385-85a9-fd08fcb16ca1","pdf_url":"https://pure.tue.nl/ws/files/306531599/Robot_Control_for_Simultaneous_Impact_tasks_via_Quadratic_Programming-based_Reference_Spreading.pdf","source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","issn_l":null,"issn":null,"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":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Steen, J J V, Wouw, N V D & Saccon, A 2022, Robot Control for Simultaneous Impact tasks via Quadratic Programming-based Reference Spreading. in 2022 American Control Conference (ACC)., 9867812, Institute of Electrical and Electronics Engineers, pp. 3865-3872. https://doi.org/10.23919/ACC53348.2022.9867812","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:pure.tue.nl:openaire_cris_publications/19e6650e-0981-4385-85a9-fd08fcb16ca1","is_oa":true,"landing_page_url":"https://research.tue.nl/en/publications/19e6650e-0981-4385-85a9-fd08fcb16ca1","pdf_url":"https://pure.tue.nl/ws/files/306531599/Robot_Control_for_Simultaneous_Impact_tasks_via_Quadratic_Programming-based_Reference_Spreading.pdf","source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","issn_l":null,"issn":null,"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":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Steen, J J V, Wouw, N V D & Saccon, A 2022, Robot Control for Simultaneous Impact tasks via Quadratic Programming-based Reference Spreading. in 2022 American Control Conference (ACC)., 9867812, Institute of Electrical and Electronics Engineers, pp. 3865-3872. https://doi.org/10.23919/ACC53348.2022.9867812","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4574817219","display_name":"Impact Aware Manipulation by Dexterous Robot Control and Learning in Dynamic Semi-Structured Logistic Environments","funder_award_id":"871899","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G4937468798","display_name":null,"funder_award_id":"H2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6716896716","display_name":null,"funder_award_id":"GA 871899","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4294691804.pdf","grobid_xml":"https://content.openalex.org/works/W4294691804.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W394934202","https://openalex.org/W644555752","https://openalex.org/W984114657","https://openalex.org/W1972382440","https://openalex.org/W2020413706","https://openalex.org/W2026943566","https://openalex.org/W2126100953","https://openalex.org/W2128131727","https://openalex.org/W2136190052","https://openalex.org/W2150024155","https://openalex.org/W2282811527","https://openalex.org/W2327315597","https://openalex.org/W2533477737","https://openalex.org/W2737884499","https://openalex.org/W2762248135","https://openalex.org/W2766990663","https://openalex.org/W2790273060","https://openalex.org/W2900391154","https://openalex.org/W2918616475","https://openalex.org/W2962784835","https://openalex.org/W2963262330","https://openalex.org/W2972332292","https://openalex.org/W2985654098","https://openalex.org/W2997567346","https://openalex.org/W3133097009","https://openalex.org/W3136831392","https://openalex.org/W3146289928","https://openalex.org/W4206179747","https://openalex.org/W4206952039","https://openalex.org/W6685184935"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W2375420338","https://openalex.org/W1817375815","https://openalex.org/W3171631314","https://openalex.org/W1521672401","https://openalex.org/W2606825221","https://openalex.org/W2064245428","https://openalex.org/W2674584172","https://openalex.org/W1990892711","https://openalex.org/W2253413664"],"abstract_inverted_index":{"With":[0,162],"the":[1,6,21,48,69,78,85,88,99,116,134,138,142,168],"aim":[2],"of":[3,8,27,50,71,96,118,140],"further":[4],"enabling":[5],"exploitation":[7],"impacts":[9,37,97],"in":[10,112],"robotic":[11,28],"manipulation,":[12],"a":[13,63,92,94,127,173,187,193],"control":[14,26,122,177],"framework":[15,49,178],"is":[16,130,149,170,180],"presented":[17],"that":[18,30],"directly":[19],"tackles":[20],"challenges":[22],"posed":[23],"by":[24],"tracking":[25],"manipulators":[29],"are":[31],"tasked":[32],"to":[33,39,158],"perform":[34],"nominally":[35],"simultaneous":[36,74],"associated":[38],"multiple":[40],"contact":[41,101,144],"points.":[42],"To":[43],"this":[44,113,125,152],"end,":[45],"we":[46],"extend":[47],"reference":[51,60,86,110,136],"spreading,":[52],"which":[53],"uses":[54],"an":[55,72,119,163],"extended":[56],"ante-":[57],"and":[58,179,191],"post-impact":[59],"coherent":[61],"with":[62,137,197],"rigid":[64,188],"impact":[65,89],"map,":[66],"determined":[67],"under":[68],"assumption":[70],"inelastic":[73],"impact.":[75],"In":[76,124],"practice,":[77],"robot":[79,189,195],"will":[80,103],"not":[81],"reside":[82],"exactly":[83],"on":[84,133,186,192],"at":[87,98],"moment;":[90],"as":[91,151],"result":[93],"sequence":[95],"different":[100],"points":[102],"typically":[104],"occur.":[105],"Our":[106],"new":[107],"approach":[108,169],"extends":[109],"spreading":[111],"context":[114],"via":[115],"introduction":[117],"additional":[120],"interim":[121],"mode.":[123],"mode,":[126],"torque":[128],"command":[129],"still":[131],"based":[132],"ante-impact":[135],"goal":[139],"reaching":[141],"target":[143],"state,":[145],"but":[146],"velocity":[147,160],"feedback":[148],"disabled":[150],"can":[153],"be":[154],"potentially":[155],"harmful":[156],"due":[157],"rapid":[159],"changes.":[161],"eye":[164],"towards":[165],"real":[166],"implementation,":[167],"formulated":[171],"using":[172,182],"quadratic":[174],"programming":[175],"(QP)":[176],"validated":[181],"numerical":[183],"simulations":[184],"both":[185],"model":[190,196],"realistic":[194],"flexible":[198],"joints.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
