{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,8]],"date-time":"2026-04-08T01:21:45Z","timestamp":1775611305169,"version":"3.50.1"},"reference-count":109,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2023,8,1]],"date-time":"2023-08-01T00:00:00Z","timestamp":1690848000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2023,8,1]],"date-time":"2023-08-01T00:00:00Z","timestamp":1690848000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2023,8,1]],"date-time":"2023-08-01T00:00:00Z","timestamp":1690848000000},"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":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2023,8]]},"DOI":"10.1109\/tro.2023.3257515","type":"journal-article","created":{"date-parts":[[2023,4,4]],"date-time":"2023-04-04T20:43:56Z","timestamp":1680641036000},"page":"3200-3221","source":"Crossref","is-referenced-by-count":15,"title":["Modularize-and-Conquer: A Generalized Impact Dynamics and Safe Precollision Control Framework for Floating-Base Tree-Like Robots"],"prefix":"10.1109","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7811-6204","authenticated-orcid":false,"given":"Mazin","family":"Hamad","sequence":"first","affiliation":[{"name":"Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Robotics and Systems Intelligence, Technical University of Munich (TUM), Munich, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0009-0004-3333-8443","authenticated-orcid":false,"given":"Alexander","family":"Kurdas","sequence":"additional","affiliation":[{"name":"Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Robotics and Systems Intelligence, Technical University of Munich (TUM), Munich, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2978-5628","authenticated-orcid":false,"given":"Nico","family":"Mansfeld","sequence":"additional","affiliation":[{"name":"Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Robotics and Systems Intelligence, Technical University of Munich (TUM), Munich, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0077-5757","authenticated-orcid":false,"given":"Saeed","family":"Abdolshah","sequence":"additional","affiliation":[{"name":"Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Robotics and Systems Intelligence, Technical University of Munich (TUM), Munich, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7696-4955","authenticated-orcid":false,"given":"Sami","family":"Haddadin","sequence":"additional","affiliation":[{"name":"Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Robotics and Systems Intelligence, Technical University of Munich (TUM), Munich, Germany"}]}],"member":"263","reference":[{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-006-9009-4"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5654369"},{"key":"ref59","year":"2021","journal-title":"Amer Nat Standard for Ind Mobile Robots Saf Requirements&#x2014;Part 1 Requirements for the Ind Mobile Robot"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-022-09349-9"},{"key":"ref53","first-page":"26","article-title":"Safety of mobile robot systems in industrial applications","author":"markis","year":"0","journal-title":"Proc ARW OAGM Workshop"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/ROSE.2013.6698414"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811772"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3146554"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2014.2381357"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-021-00796-4"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/MC.2005.32"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2795639"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/MITS.2016.2583491"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1108\/IR-09-2014-0390"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-006-9009-4"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1016\/j.compeleceng.2012.06.016"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353110"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2271097"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967524"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2018.06.018"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2017.00026"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-40557-5"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ECMR.2019.8870958"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2006.871095"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.5194\/ms-4-97-2013"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2016.7799432"},{"key":"ref100","doi-asserted-by":"publisher","DOI":"10.1007\/s11235-015-0034-5"},{"key":"ref101","article-title":"DARKO Project&#x2013;An EU-funded research project on intra-logistics with integrated automatic deployment for safe and scalable fleets in shared spaces","year":"2022"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574707003360"},{"key":"ref35","article-title":"Robots and Robotic Devices&#x2014;Collaborative Robots, International Organization for Standardization, Geneva, Switzerland, ISO\/TS 15066:2016","year":"2016"},{"key":"ref34","article-title":"Robots and Robotic Devices&#x2014;Safety Requirements for Industrial Robots&#x2014;Part 2: Robot Systems and Integration, International Organization for Standardization, Geneva, Switzerland, ISO 10218-2:2011","year":"2011"},{"key":"ref37","first-page":"104","article-title":"Local incremental planning for nonholonomic mobile robots","author":"luca","year":"0","journal-title":"Proc IEEE Int Conf Robot Automat"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2723903"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543389"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543388"},{"key":"ref33","article-title":"Robots and Robotic Devices&#x2014;Safety Requirements for Industrial Robots&#x2014;Part 1: Robots, International Organization for Standardization, Geneva, Switzerland, ISO 10218-1: 2011","year":"2011"},{"key":"ref32","year":"2014","journal-title":"Robotic Devices&#x2013;Saf Requirements&#x2013;Nonmedical Pers Care Robot"},{"key":"ref39","first-page":"181","article-title":"Control of wheeled mobile robots: An experimental overview","author":"luca","year":"0","journal-title":"Ramsete"},{"key":"ref38","first-page":"299","article-title":"Safety considerations in the optimisation of paths for mobile robots using genetic algorithms","author":"chen","year":"0","journal-title":"Proc IEE Conf Genetic Algorithms Eng Syst Innov Applicat"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912462256"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909343970"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907345"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574715000156"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1299\/kikaic.63.2814"},{"key":"ref22","article-title":"Collaborative robots&#x2014;Determination of pain sensitivity at the human-machine-interface","author":"muttray","year":"2014"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/3516.653047"},{"key":"ref28","article-title":"Human&#x2013;robot collaboration: Partial supplementary examination [of pain thresholds] for their suitability for inclusion in publications of the DGUV and standardization","author":"behrens","year":"2019"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-658-26996-8"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-658-09994-7_9"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1177\/1729881418768918"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1016\/j.jphysparis.2009.07.008"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3082012"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1177\/1729881419844148"},{"key":"ref97","article-title":"Report on Typical Risks for Human Injury in the Envisaged Use Cases","year":"2017"},{"key":"ref96","article-title":"Autopilot stacker trucks, 2.0 ton: BT autopilot SAE200","year":"2021"},{"key":"ref99","article-title":"Report on Human Injury Data for Autonomous Mobile Systems","year":"2020"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570361"},{"key":"ref98","article-title":"ROS: An open-source robot operating system","volume":"3","author":"quigley","year":"0","journal-title":"Proc ICRA Workshop Open Source Softw"},{"key":"ref10","first-page":"4131","article-title":"Rollin'Justin&#x2014;Design considerations and realization of a mobile platform for a humanoid upper body","author":"fuchs","year":"0","journal-title":"Proc IEEE Int Conf Robot Automat"},{"key":"ref17","article-title":"Validating safety in human&#x2013;robot collaboration: Standards and new perspectives","volume":"10","author":"valori","year":"2021","journal-title":"Robot"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-46212-3_2"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152711"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152602"},{"key":"ref93","first-page":"117","article-title":"Improved mecanum wheel design for omni-directional robots","author":"diegel","year":"0","journal-title":"Proc Australas Conf Robot Automat"},{"key":"ref92","article-title":"ILIAD Project&#x2013;An EU-funded research project on intra-logistics with integrated automatic deployment for safe and scalable fleets in shared spaces","year":"2020"},{"key":"ref95","first-page":"459","article-title":"Mobile manipulation for human&#x2013;robot collaboration in intralogistics","volume":"24","author":"r\u00f6hrig","year":"2019","journal-title":"IAENG Transactions on Engineering Sciences"},{"key":"ref94","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2008.06.001"},{"key":"ref91","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594339"},{"key":"ref90","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2021.644532"},{"key":"ref89","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-053018-023834"},{"key":"ref86","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907033"},{"key":"ref85","article-title":"CiTi one: Urban electric pallet truck, capacity 500 kg","year":"2021"},{"key":"ref88","first-page":"1","article-title":"Modular self-reconfigurable robotic systems: A survey on hardware architectures","volume":"2017","author":"chennareddy","year":"2017","journal-title":"J Robot"},{"key":"ref87","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2931248"},{"key":"ref82","volume":"406","author":"khalil","year":"2015","journal-title":"Nonlinear Control"},{"key":"ref81","volume":"6","author":"sontag","year":"2013","journal-title":"Mathematical Control Theory Deterministic Finite Dimensional Systems"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-77653-6_3"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1007\/s00498-014-0128-8"},{"key":"ref80","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-19457-3_16"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3076968"},{"key":"ref108","article-title":"Implementation of the pure pursuit path tracking algorithm","author":"coulter","year":"1992"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2003.1249691"},{"key":"ref109","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206435"},{"key":"ref106","article-title":"The Schur complement and symmetric positive semidefinite (and definite) matrices","author":"gallier","year":"2020"},{"key":"ref107","doi-asserted-by":"publisher","DOI":"10.1137\/1.9780898718027"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1115\/1.4049877"},{"key":"ref104","author":"loan","year":"1983","journal-title":"Matrix Computations"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-32552-1_51"},{"key":"ref105","author":"horn","year":"1994","journal-title":"Topics in Matrix Analysis"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844116"},{"key":"ref102","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2801477"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968022"},{"key":"ref103","doi-asserted-by":"publisher","DOI":"10.1109\/CASE49997.2022.9926607"},{"key":"ref2","article-title":"Safety of Machinery&#x2014;General Principles for Design&#x2014;Risk Assessment and Risk Reduction","year":"2012"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2015.12.007"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509646"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-4563(199703)14:3<149::AID-ROB1>3.3.CO;2-N"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224851"},{"key":"ref72","author":"cormen","year":"2022","journal-title":"Introduction to Algorithms"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2020.1778524"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620040209"},{"key":"ref69","first-page":"1792","article-title":"Kinematic control of nonholonomic mobile manipulators in the presence of steering wheels","author":"luca","year":"0","journal-title":"Proc IEEE Int Conf Robot Automat"},{"key":"ref64","author":"tzafestas","year":"2013","journal-title":"Introduction to Mobile Robot Control"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1177\/027836499501400103"},{"key":"ref66","author":"siegwart","year":"2004","journal-title":"Introduction to Autonomous Mobile Robots"},{"key":"ref65","first-page":"5t","article-title":"Ackermann mobile robot chassis with independent rear wheel drives","author":"hrb\u00e1?ek","year":"0","journal-title":"Proc 14th Int Power Electron Motion Control Conf"},{"key":"ref60","article-title":"Ergonomically intelligent physical human&#x2013;robot interaction: Postural estimation, assessment, and optimization","author":"yazdani","year":"2021"},{"key":"ref62","author":"sciavicco","year":"2012","journal-title":"Modelling and Control of Robot Manipulators"},{"key":"ref61","article-title":"Industrial Trucks&#x2014;Safety Requirements and Verification-Part 4: Driverless Industrial Trucks and Their Systems","year":"2020"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/10214173\/10091926.pdf?arnumber=10091926","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,8,28]],"date-time":"2023-08-28T18:16:05Z","timestamp":1693246565000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10091926\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,8]]},"references-count":109,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/tro.2023.3257515","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,8]]}}}