{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,4]],"date-time":"2026-04-04T18:12:40Z","timestamp":1775326360813,"version":"3.50.1"},"reference-count":28,"publisher":"IEEE","license":[{"start":{"date-parts":[[2023,5,29]],"date-time":"2023-05-29T00:00:00Z","timestamp":1685318400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2023,5,29]],"date-time":"2023-05-29T00:00:00Z","timestamp":1685318400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2023,5,29]]},"DOI":"10.1109\/icra48891.2023.10161138","type":"proceedings-article","created":{"date-parts":[[2023,7,4]],"date-time":"2023-07-04T17:20:56Z","timestamp":1688491256000},"page":"12282-12288","source":"Crossref","is-referenced-by-count":19,"title":["Real-Time Model Predictive Control for Industrial Manipulators with Singularity-Tolerant Hierarchical Task Control"],"prefix":"10.1109","author":[{"given":"Jaemin","family":"Lee","sequence":"first","affiliation":[{"name":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA"}]},{"given":"Mingyo","family":"Seo","sequence":"additional","affiliation":[{"name":"University of Texas at Austin,Austin,TX,USA"}]},{"given":"Andrew","family":"Bylard","sequence":"additional","affiliation":[{"name":"Dexterity Inc,Redwood City,CA,USA"}]},{"given":"Robert","family":"Sun","sequence":"additional","affiliation":[{"name":"Dexterity Inc,Redwood City,CA,USA"}]},{"given":"Luis","family":"Sentis","sequence":"additional","affiliation":[{"name":"University of Texas at Austin,Austin,TX,USA"}]}],"member":"263","reference":[{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087068"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1177\/1729881419858910"},{"key":"ref15","first-page":"3346","article-title":"Whole-body model-predictive control applied to the HRP-2 humanoid","author":"koenemann","year":"0","journal-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"key":"ref14","first-page":"7330","article-title":"High-frequency nonlinear model predictive control of a manip-ulator","author":"kleff","year":"0","journal-title":"Proceedings of the IEEE International Conference on Robotics and Automation"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2022.3152166"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2017.2674701"},{"key":"ref2","first-page":"5594","article-title":"Development of a human size and strength compliant bi-manual platform for realistic heavy manipulation tasks","author":"baccelliere","year":"0","journal-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"key":"ref1","first-page":"3410","article-title":"Impedance control of manipulators carrying a heavy payload","author":"aghili","year":"0","journal-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"key":"ref17","first-page":"5942","article-title":"MPC-based hierar-chical task space control of underactuated and constrained robots for execution of multiple tasks","author":"lee","year":"0","journal-title":"Proceedings of the IEEE Conference on Decision and Control"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2965071"},{"key":"ref19","first-page":"725","article-title":"Improving operational space control of heavy manipulators via open-loop compensation","author":"maeda","year":"0","journal-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2210293"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.2974092"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908091463"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2291630"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2975727"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(99)00214-9"},{"key":"ref22","first-page":"702","article-title":"Real-time safety and control of robotic manipulators with torque saturation in operational space","author":"murtaza","year":"0","journal-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/9481.003.0034"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843605000594"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9812224"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICAL.2008.4636510"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2792154"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968251"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2943057"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196969"},{"key":"ref6","first-page":"2016","author":"coumans","year":"0","journal-title":"Pybullet a python module for physics simulation for games robotics and machine learning"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.038"}],"event":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","location":"London, United Kingdom","start":{"date-parts":[[2023,5,29]]},"end":{"date-parts":[[2023,6,2]]}},"container-title":["2023 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/10160211\/10160212\/10161138.pdf?arnumber=10161138","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,7,24]],"date-time":"2023-07-24T17:35:30Z","timestamp":1690220130000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10161138\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,5,29]]},"references-count":28,"URL":"https:\/\/doi.org\/10.1109\/icra48891.2023.10161138","relation":{},"subject":[],"published":{"date-parts":[[2023,5,29]]}}}