{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,10]],"date-time":"2026-07-10T16:38:01Z","timestamp":1783701481494,"version":"3.55.0"},"reference-count":14,"publisher":"IEEE","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2008,5]]},"DOI":"10.1109\/robot.2008.4543500","type":"proceedings-article","created":{"date-parts":[[2008,6,16]],"date-time":"2008-06-16T18:43:38Z","timestamp":1213641818000},"page":"1999-2004","source":"Crossref","is-referenced-by-count":44,"title":["Resolving the problem of non-integrability of nullspace velocities for compliance control of redundant manipulators by using semi-definite Lyapunov functions"],"prefix":"10.1109","author":[{"given":"Christian","family":"Ott","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Andreas","family":"Kugi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"family":"Yoshihiko Nakamura","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"13","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4471-0507-7","author":"van der schaft","year":"2000","journal-title":"L2-Gain and Passivity Techniques in Nonlinear Control"},{"key":"14","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4471-0967-9","author":"sepulchre","year":"1997","journal-title":"Constructive Nonlinear Control"},{"key":"11","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1993.292202"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1007\/BF01211748"},{"key":"3","article-title":"analysis and control of kinematically redundant manipulators: an approach based on kinematically decoupled joint space decomposition","author":"park","year":"1999"},{"key":"2","doi-asserted-by":"crossref","first-page":"1115","DOI":"10.1109\/JRA.1987.1087068","article-title":"a unified approach for motion and force control of robot manipulators: the operational space formulation","volume":"3","author":"khatib","year":"1987","journal-title":"IEEE Journal of Robotics and Automation"},{"key":"1","author":"nakamura","year":"1991","journal-title":"Advanced Robotics Redundancy and Optimization"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1991.131666"},{"key":"7","article-title":"cartesian impedance control of flexible joint manipulators","author":"ott","year":"2005"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1985.1087234"},{"key":"5","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1997.614278"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1999.811690"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1999.770368"},{"key":"8","doi-asserted-by":"publisher","DOI":"10.1023\/A:1009895915332"}],"event":{"name":"2008 IEEE International Conference on Robotics and Automation (ICRA)","location":"Pasadena, CA, USA","start":{"date-parts":[[2008,5,19]]},"end":{"date-parts":[[2008,5,23]]}},"container-title":["2008 IEEE International Conference on Robotics and Automation"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx5\/4534525\/4543169\/04543500.pdf?arnumber=4543500","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2017,6,18]],"date-time":"2017-06-18T09:09:55Z","timestamp":1497776995000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/4543500\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2008,5]]},"references-count":14,"URL":"https:\/\/doi.org\/10.1109\/robot.2008.4543500","relation":{},"subject":[],"published":{"date-parts":[[2008,5]]}}}