{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,23]],"date-time":"2025-12-23T10:02:46Z","timestamp":1766484166272,"version":"3.44.0"},"reference-count":43,"publisher":"IEEE","license":[{"start":{"date-parts":[[2020,10,24]],"date-time":"2020-10-24T00:00:00Z","timestamp":1603497600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2020,10,24]],"date-time":"2020-10-24T00:00:00Z","timestamp":1603497600000},"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":[[2020,10,24]]},"DOI":"10.1109\/iros45743.2020.9340690","type":"proceedings-article","created":{"date-parts":[[2021,3,15]],"date-time":"2021-03-15T10:49:56Z","timestamp":1615805396000},"page":"6613-6618","source":"Crossref","is-referenced-by-count":7,"title":["Geometrical Interpretation and Detection of Multiple Task Conflicts using a Coordinate Invariant Index"],"prefix":"10.1109","author":[{"given":"Vincenzo","family":"Schettino","sequence":"first","affiliation":[{"name":"KUKA Deutschland GmbH,Augsburg,DE,86165"}]},{"given":"Mario D.","family":"Fiore","sequence":"additional","affiliation":[{"name":"KUKA Deutschland GmbH,Augsburg,DE,86165"}]},{"given":"Claudia","family":"Pecorella","sequence":"additional","affiliation":[{"name":"University of Naples Federico II,PRISMA Lab,Department of Electrical Engineering and Information Technology,Naples,IT,80125"}]},{"given":"Fanny","family":"Ficuciello","sequence":"additional","affiliation":[{"name":"University of Naples Federico II,PRISMA Lab,Department of Electrical Engineering and Information Technology,Naples,IT,80125"}]},{"given":"Felix","family":"Allmendinger","sequence":"additional","affiliation":[{"name":"KUKA Deutschland GmbH,Augsburg,DE,86165"}]},{"given":"Johannes","family":"Lachner","sequence":"additional","affiliation":[{"name":"KUKA Deutschland GmbH,Augsburg,DE,86165"}]},{"given":"Stefano","family":"Stramigioli","sequence":"additional","affiliation":[{"name":"University of Twente,Faculty of Electrical Engineering, Mathematics and Computer Science,Enschede,The Netherlands"}]},{"given":"Bruno","family":"Siciliano","sequence":"additional","affiliation":[{"name":"University of Naples Federico II,PRISMA Lab,Department of Electrical Engineering and Information Technology,Naples,IT,80125"}]}],"member":"263","reference":[{"doi-asserted-by":"publisher","key":"ref39","DOI":"10.1115\/1.3140644"},{"doi-asserted-by":"publisher","key":"ref38","DOI":"10.1177\/027836498500400201"},{"doi-asserted-by":"publisher","key":"ref33","DOI":"10.1177\/027836498700600206"},{"doi-asserted-by":"publisher","key":"ref32","DOI":"10.1109\/TRO.2009.2017135"},{"doi-asserted-by":"publisher","key":"ref31","DOI":"10.1142\/S0219843604000058"},{"doi-asserted-by":"publisher","key":"ref30","DOI":"10.1109\/IROS.2018.8594103"},{"doi-asserted-by":"publisher","key":"ref37","DOI":"10.1115\/1.2120808"},{"doi-asserted-by":"publisher","key":"ref36","DOI":"10.1177\/027836498200100102"},{"doi-asserted-by":"publisher","key":"ref35","DOI":"10.1177\/027836499501400103"},{"doi-asserted-by":"publisher","key":"ref34","DOI":"10.1177\/027836498300200103"},{"key":"ref10","doi-asserted-by":"crossref","DOI":"10.1109\/TRO.2015.2430053","article-title":"Variable impedance control of redundant manipulators for intuitive humanrobot physical interaction","volume":"31","author":"ficuciello","year":"2015","journal-title":"IEEE Transactions on Robotics"},{"key":"ref40","first-page":"105","article-title":"Differential kinematics and statics","author":"siciliano","year":"2009","journal-title":"Robotics Modelling Planning and Control"},{"doi-asserted-by":"publisher","key":"ref11","DOI":"10.1109\/LRA.2015.2505061"},{"doi-asserted-by":"publisher","key":"ref12","DOI":"10.1177\/027836498500400308"},{"doi-asserted-by":"publisher","key":"ref13","DOI":"10.1177\/027836499101000409"},{"doi-asserted-by":"publisher","key":"ref14","DOI":"10.1109\/IROS.2014.6942891"},{"doi-asserted-by":"publisher","key":"ref15","DOI":"10.1109\/ICRA.2012.6224571"},{"doi-asserted-by":"publisher","key":"ref16","DOI":"10.1109\/IROS.2018.8593400"},{"doi-asserted-by":"publisher","key":"ref17","DOI":"10.1109\/IROS.2011.6094483"},{"doi-asserted-by":"publisher","key":"ref18","DOI":"10.1109\/ICRA.2011.5980202"},{"doi-asserted-by":"publisher","key":"ref19","DOI":"10.1177\/0278364914521306"},{"doi-asserted-by":"publisher","key":"ref28","DOI":"10.1109\/IROS.2015.7354294"},{"doi-asserted-by":"publisher","key":"ref4","DOI":"10.1109\/JRA.1987.1087114"},{"key":"ref27","first-page":"142","article-title":"Kinematic singularity avoidance for robot manipulators using setbased manipulability tasks","author":"sverdrup-thygeson","year":"2017","journal-title":"IEEE Conf Control Applications"},{"doi-asserted-by":"publisher","key":"ref3","DOI":"10.1016\/j.mechmachtheory.2019.103722"},{"doi-asserted-by":"publisher","key":"ref6","DOI":"10.1109\/ROBOT.1987.1087921"},{"doi-asserted-by":"publisher","key":"ref29","DOI":"10.1109\/ICRA.2016.7487137"},{"doi-asserted-by":"publisher","key":"ref5","DOI":"10.1109\/ROBOT.1985.1087234"},{"doi-asserted-by":"publisher","key":"ref8","DOI":"10.1109\/ICAR.1991.240390"},{"doi-asserted-by":"publisher","key":"ref7","DOI":"10.1109\/JRA.1987.1087118"},{"doi-asserted-by":"publisher","key":"ref2","DOI":"10.4173\/mic.2013.2.3"},{"doi-asserted-by":"publisher","key":"ref9","DOI":"10.1177\/0278364914566516"},{"doi-asserted-by":"publisher","key":"ref1","DOI":"10.1007\/978-3-319-32552-1"},{"doi-asserted-by":"publisher","key":"ref20","DOI":"10.1007\/s10514-015-9476-6"},{"doi-asserted-by":"publisher","key":"ref22","DOI":"10.1109\/ICRA.2019.8793553"},{"doi-asserted-by":"publisher","key":"ref21","DOI":"10.1007\/s10514-015-9436-1"},{"doi-asserted-by":"publisher","key":"ref42","DOI":"10.1109\/ROBOT.2000.846414"},{"key":"ref24","first-page":"171","article-title":"Stability analysis for set-based control within the singularity-robust multiple taskpriority inverse kinematics framework","author":"moe","year":"2015","journal-title":"IEEE Conf on Decision and Control"},{"doi-asserted-by":"publisher","key":"ref41","DOI":"10.1016\/0024-3795(81)90271-8"},{"doi-asserted-by":"publisher","key":"ref23","DOI":"10.1007\/s10846-016-0368-6"},{"doi-asserted-by":"publisher","key":"ref26","DOI":"10.1109\/ICRA.2019.8793625"},{"year":"2002","author":"angeles","journal-title":"Fundamentals of Robotic Mechanical Systems","key":"ref43"},{"doi-asserted-by":"publisher","key":"ref25","DOI":"10.3389\/frobt.2016.00016"}],"event":{"name":"2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","start":{"date-parts":[[2020,10,24]]},"location":"Las Vegas, NV, USA","end":{"date-parts":[[2021,1,24]]}},"container-title":["2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9340668\/9340635\/09340690.pdf?arnumber=9340690","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,26]],"date-time":"2025-08-26T19:09:37Z","timestamp":1756235377000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9340690\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,10,24]]},"references-count":43,"URL":"https:\/\/doi.org\/10.1109\/iros45743.2020.9340690","relation":{},"subject":[],"published":{"date-parts":[[2020,10,24]]}}}