{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,27]],"date-time":"2025-03-27T23:20:19Z","timestamp":1743117619497,"version":"3.40.3"},"publisher-location":"Cham","reference-count":16,"publisher":"Springer Nature Switzerland","isbn-type":[{"type":"print","value":"9783031549991"},{"type":"electronic","value":"9783031550003"}],"license":[{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2024]]},"DOI":"10.1007\/978-3-031-55000-3_9","type":"book-chapter","created":{"date-parts":[[2024,3,12]],"date-time":"2024-03-12T00:13:43Z","timestamp":1710202423000},"page":"123-136","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Joint Position Bounds in\u00a0Resolved-Acceleration Control: A Comparison"],"prefix":"10.1007","author":[{"given":"Andrea","family":"Testa","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Luigi","family":"Raiano","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marco","family":"Laghi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Arash","family":"Ajoudani","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Enrico","family":"Mingo Hoffman","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2024,3,10]]},"reference":[{"key":"9_CR1","doi-asserted-by":"crossref","unstructured":"Amadio, F., et al.: Target-referred DMPs for learning bimanual tasks from shared-autonomy telemanipulation. In: IEEE-RAS International Conference on Humanoid Robots, pp. 496\u2013503 (2022)","DOI":"10.1109\/Humanoids53995.2022.10000233"},{"key":"9_CR2","doi-asserted-by":"crossref","unstructured":"Ames, A.D., Grizzle, J.W., Tabuada, P.: Control barrier function based quadratic programs with application to adaptive cruise control. In: IEEE Conference on Decision and Control, pp. 6271\u20136278 (2014)","DOI":"10.1109\/CDC.2014.7040372"},{"key":"9_CR3","doi-asserted-by":"crossref","unstructured":"Caron, S., Kheddar, A., Tempier, O.: Stair climbing stabilization of the HRP-4 humanoid robot using whole-body admittance control. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 277\u2013283 (2019)","DOI":"10.1109\/ICRA.2019.8794348"},{"issue":"1","key":"9_CR4","doi-asserted-by":"publisher","first-page":"281","DOI":"10.1109\/LRA.2017.2738321","volume":"3","author":"A Del Prete","year":"2017","unstructured":"Del Prete, A.: Joint position and velocity bounds in discrete-time acceleration\/torque control of robot manipulators. IEEE Rob. Autom. Lett. 3(1), 281\u2013288 (2017)","journal-title":"IEEE Rob. Autom. Lett."},{"key":"9_CR5","doi-asserted-by":"crossref","unstructured":"Fang, C., Rocchi, A., Hoffman, E.M., Tsagarakis, N.G., Caldwell, D.G.: Efficient self-collision avoidance based on focus of interest for humanoid robots. In: IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 1060\u20131066 (2015)","DOI":"10.1109\/HUMANOIDS.2015.7363500"},{"issue":"4","key":"9_CR6","doi-asserted-by":"publisher","first-page":"327","DOI":"10.1007\/s12532-014-0071-1","volume":"6","author":"H Ferreau","year":"2014","unstructured":"Ferreau, H., Kirches, C., Potschka, A., Bock, H., Diehl, M.: qpOASES: a parametric active-set algorithm for quadratic programming. Math. Program. Comput. 6(4), 327\u2013363 (2014)","journal-title":"Math. Program. Comput."},{"key":"9_CR7","doi-asserted-by":"crossref","unstructured":"Grandia, R., Taylor, A.J., Ames, A.D., Hutter, M.: Multi-layered safety for legged robots via control barrier functions and model predictive control. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 8352\u20138358 (2021)","DOI":"10.1109\/ICRA48506.2021.9561510"},{"key":"9_CR8","doi-asserted-by":"crossref","unstructured":"Khazoom, C., Gonzalez-Diaz, D., Ding, Y., Kim, S.: Humanoid self-collision avoidance using whole-body control with control barrier functions. In: IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 558\u2013565 (2022)","DOI":"10.1109\/Humanoids53995.2022.10000235"},{"issue":"4","key":"9_CR9","doi-asserted-by":"publisher","first-page":"8759","DOI":"10.1109\/LRA.2022.3188436","volume":"7","author":"M Laghi","year":"2022","unstructured":"Laghi, M., Raiano, L., Amadio, F., Rollo, F., Zunino, A., Ajoudani, A.: A target-guided telemanipulation architecture for assisted grasping. IEEE Rob. Automa. Lett. 7(4), 8759\u20138766 (2022)","journal-title":"IEEE Rob. Automa. Lett."},{"key":"9_CR10","doi-asserted-by":"crossref","unstructured":"Landi, C.T., Ferraguti, F., Costi, S., Bonf\u00e8, M., Secchi, C.: Safety barrier functions for human-robot interaction with industrial manipulators. In: European Control Conference (ECC), pp. 2565\u20132570 (2019)","DOI":"10.23919\/ECC.2019.8796235"},{"key":"9_CR11","doi-asserted-by":"crossref","unstructured":"Maderna, R., Casalino, A., Zanchettin, A.M., Rocco, P.: Robotic handling of liquids with spilling avoidance: a constraint-based control approach. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 7414\u20137420 (2018)","DOI":"10.1109\/ICRA.2018.8460927"},{"key":"9_CR12","doi-asserted-by":"crossref","unstructured":"Park, K.C., Chang, P.H., Kim, S.H.: The enhanced compact QP method for redundant manipulators using practical inequality constraints. In: IEEE International Conference on Robotics and Automation (ICRA), vol.\u00a01, pp. 107\u2013114 (1998)","DOI":"10.1109\/ROBOT.1998.676327"},{"issue":"3","key":"9_CR13","doi-asserted-by":"publisher","first-page":"1288","DOI":"10.1109\/LRA.2017.2665681","volume":"2","author":"MP Polverini","year":"2017","unstructured":"Polverini, M.P., Nicolis, D., Zanchettin, A.M., Rocco, P.: Implicit robot force control based on set invariance. IEEE Rob. Autom. Lett. 2(3), 1288\u20131295 (2017)","journal-title":"IEEE Rob. Autom. Lett."},{"key":"9_CR14","doi-asserted-by":"crossref","unstructured":"Rauscher, M., Kimmel, M., Hirche, S.: Constrained robot control using control barrier functions. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 279\u2013285 (2016)","DOI":"10.1109\/IROS.2016.7759067"},{"key":"9_CR15","doi-asserted-by":"crossref","unstructured":"Rocchi, A., Hoffman, E.M., Caldwell, D.G., Tsagarakis, N.G.: OpenSoT: a whole-body control library for the compliant humanoid robot COMAN. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 6248\u20136253 (2015)","DOI":"10.1109\/ICRA.2015.7140076"},{"key":"9_CR16","doi-asserted-by":"crossref","unstructured":"Wolff, J., Buss, M.: Invariance control design for nonlinear control affine systems under hard state constraints. IFAC Proc. Vol. 37(13), 555\u2013560 (2004). IFAC Symposium on Nonlinear Control Systems (NOLCOS)","DOI":"10.1016\/S1474-6670(17)31282-X"}],"container-title":["Springer Proceedings in Advanced Robotics","Human-Friendly Robotics 2023"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-031-55000-3_9","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,11,14]],"date-time":"2024-11-14T03:57:57Z","timestamp":1731556677000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-031-55000-3_9"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024]]},"ISBN":["9783031549991","9783031550003"],"references-count":16,"URL":"https:\/\/doi.org\/10.1007\/978-3-031-55000-3_9","relation":{},"ISSN":["2511-1256","2511-1264"],"issn-type":[{"type":"print","value":"2511-1256"},{"type":"electronic","value":"2511-1264"}],"subject":[],"published":{"date-parts":[[2024]]},"assertion":[{"value":"10 March 2024","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"HFR","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Workshop on Human-Friendly Robotics","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Munich","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Germany","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2023","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"20 September 2023","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"21 September 2023","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"16","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"hfr2023","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"https:\/\/sites.google.com\/view\/hfr2023\/home","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}