{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,19]],"date-time":"2025-10-19T15:28:08Z","timestamp":1760887688421},"reference-count":14,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[1994,3,1]],"date-time":"1994-03-01T00:00:00Z","timestamp":762480000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[1994,3]]},"DOI":"10.1007\/bf01276501","type":"journal-article","created":{"date-parts":[[2005,3,24]],"date-time":"2005-03-24T07:42:01Z","timestamp":1111650121000},"page":"273-290","source":"Crossref","is-referenced-by-count":8,"title":["Exploiting redundancy to reduce impact force"],"prefix":"10.1007","volume":"9","author":[{"given":"Jin-Oh","family":"Kim","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Matthew","family":"Wayne","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Pradeep K.","family":"Khosla","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","reference":[{"key":"CR1","unstructured":"Cai, C., Instantaneous robot motion with contact between surfaces, PhD Thesis, Dept. of Computer Science, Stanford University, 1988."},{"issue":"4","key":"CR2","doi-asserted-by":"crossref","first-page":"427","DOI":"10.1002\/rob.4620060409","volume":"6","author":"R.D. Colbaugh","year":"1989","unstructured":"Colbaugh, R.D. and Glass, K.L., Cartesian control of redundant robots,J. Robotic Systems 6(4) (1989), 427?459.","journal-title":"J. Robotic Systems"},{"key":"CR3","volume-title":"Introduction to Robotics: Mechanics and Control","author":"J.J. Craig","year":"1989","unstructured":"Craig, J.J.,Introduction to Robotics: Mechanics and Control, Addison-Wesley, Reading, Mass., 1989."},{"key":"CR4","unstructured":"Gertz, M.W., Simulation of strategies to minimize the force of impact between a redundant manipulator and an obstacle, MS thesis, The Robotics Institute, Carnegie Mellon University, February 1991."},{"key":"CR5","unstructured":"Khatib, O., Dynamic control of manipulators in operational space,Sixth CISM-IFToMM Congress on Theory of Machines and Mechanisms, 1983, New Delhi, India, Wiley, New Delhi, pp. 1128?1131."},{"key":"CR6","doi-asserted-by":"crossref","unstructured":"Khatib, O. and Burdick, J., Motion and force control of robot manipulators,IEEE Conf. on Robotics and Automation, San Francisco, CA, 1986, pp. 1381?1386.","DOI":"10.1109\/ROBOT.1986.1087493"},{"key":"CR7","unstructured":"Kim, J.-O. and Khosla, P.K., Dynamic resolution of redundant motions, Technical Report CMU-RI-AML-90-01, Advanced Manipulators Laboratory, The Robotics Institute, Carnegie Mellon University, Sept. 1990."},{"issue":"2","key":"CR8","doi-asserted-by":"crossref","first-page":"145","DOI":"10.1016\/0736-5845(92)90007-S","volume":"9","author":"J.-O. Kim","year":"1991","unstructured":"Kim, J.-O., Khosla, P.K., and Chung, W.K., Static modeling and control of redundant manipulators,Robotics and Computer-Integrated Manufacturing 9(2) (1991), 145?157.","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"key":"CR9","volume-title":"Advanced Robotics: Redundancy and Optimization","author":"Y. Nakamura","year":"1991","unstructured":"Nakamura, Y.,Advanced Robotics: Redundancy and Optimization, Addison-Wesley, Reading, Mass., 1991."},{"issue":"6","key":"CR10","doi-asserted-by":"crossref","first-page":"769","DOI":"10.1002\/rob.4620060607","volume":"6","author":"D.N. Nenchev","year":"1989","unstructured":"Nenchev, D.N., Redundancy resolution through local optimization: A review,J. Robotic Systems 6(6) (1989), 769?798.","journal-title":"J. Robotic Systems"},{"key":"CR11","volume-title":"Generalized Inverse of Matrices and its Application","author":"C.R. Rao","year":"1971","unstructured":"Rao, C.R. and Mitra, S.K.,Generalized Inverse of Matrices and its Application, Wiley, New York, 1971."},{"key":"CR12","doi-asserted-by":"crossref","unstructured":"Walker, I.D., The use of kinematic redundancy in reducing impact and contact effects in manipulation,IEEE Conf. Robotics and Automation, Cincinnati, OH, May 1990, pp. 434?439.","DOI":"10.1109\/ROBOT.1990.126016"},{"key":"CR13","unstructured":"Yoshikawa, T., Analysis and control of redundant manipulators with redundancy, in Brady and Paul (eds),Robotics Research: The First Int. Symp., MIT press, 1984, pp. 735?747."},{"key":"CR14","doi-asserted-by":"crossref","first-page":"289","DOI":"10.1002\/rob.4620020307","volume":"2","author":"Y. Zheng","year":"1985","unstructured":"Zheng, Y. and Hemami, H., Mathematical modeling of a robot collision with its environment,J. Robotics Systems 2 (1985), 289?307.","journal-title":"J. Robotics Systems"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/BF01276501.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/BF01276501\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/BF01276501","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,30]],"date-time":"2019-04-30T18:15:28Z","timestamp":1556648128000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/BF01276501"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1994,3]]},"references-count":14,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1994,3]]}},"alternative-id":["BF01276501"],"URL":"https:\/\/doi.org\/10.1007\/bf01276501","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[1994,3]]}}}