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‎paper/paper.bib

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@inproceedings{libiiwa,
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author={Serrano-Muñoz, Antonio and Elguea-Aguinaco, Íñigo and Chrysostomou, Dimitris and BØgh, Simon and Arana-Arexolaleiba, Nestor},
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booktitle={2023 IEEE/SICE International Symposium on System Integration (SII)},
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title={A Scalable and Unified Multi-Control Framework for KUKA LBR iiwa Collaborative Robots},
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year={2023},
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volume={},
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number={},
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pages={1-5},
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doi={10.1109/SII55687.2023.10039308}
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author = {Serrano-Muñoz, Antonio and Elguea-Aguinaco, Íñigo and Chrysostomou, Dimitris and BØgh, Simon and Arana-Arexolaleiba, Nestor},
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booktitle = {2023 IEEE/SICE International Symposium on System Integration (SII)},
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title = {{A Scalable and Unified Multi-Control Framework for KUKA LBR IIWA Collaborative Robots}},
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year = {2023},
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volume = {},
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number = {},
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pages = {1-5},
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doi = {10.1109/SII55687.2023.10039308},
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langid = {english}
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}
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@software{iiwa_ros,
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author = {Chatzilygeroudis, Konstantinos and Mayr, Matthias and Fichera, Bernardo and Billard, Aude},
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title = {iiwa_ros: A ROS Stack for KUKA's IIWA robots using the Fast Research Interface},
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url = {http://github.com/epfl-lasa/iiwa_ros},
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year = {2019},
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title = {{iiwa\_ros: A ROS Stack for KUKA’s IIWA Robots Using the Fast Research Interface}},
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url = {http://github.com/epfl-lasa/iiwa_ros},
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year = {2019},
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langid = {english}
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}
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@ARTICLE{kuka_sunrise_toolbox,
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Author={M. {Safeea} and P. {Neto}},
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Journal={IEEE Robotics Automation Magazine},
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Title={KUKA Sunrise Toolbox: Interfacing Collaborative Robots With MATLAB},
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Year={2019},
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Volume={26},
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Number={1},
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Pages={91-96},
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doi={10.1109/MRA.2018.2877776},
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ISSN={1070-9932},
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Month={March},
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@article{kuka_sunrise_toolbox,
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author = {M. {Safeea} and P. {Neto}},
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journal = {IEEE Robotics Automation Magazine},
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title = {{KUKA Sunrise Toolbox: Interfacing Collaborative Robots With MATLAB}},
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year = {2019},
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volume = {26},
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number = {1},
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pages = {91-96},
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doi = {10.1109/MRA.2018.2877776},
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issn = {1070-9932},
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month = {March},
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langid = {english}
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}
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@misc{iiwa_ros2,
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author = {Bednarczyk, Maciej and Guzmán, Juan Helios García},
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title = {ROS 2 Stack for KUKA iiwa collaborative robots},
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year = {2023},
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author = {Bednarczyk, Maciej and Guzmán, Juan Helios García},
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title = {{ROS 2 Stack for KUKA IIWA Collaborative Robots}},
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year = {2023},
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publisher = {GitHub},
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journal = {GitHub repository},
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url = {https://github.com/ICube-Robotics/iiwa_ros2}
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journal = {GitHub repository},
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url = {https://github.com/ICube-Robotics/iiwa_ros2},
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langid = {english}
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}
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@misc{ros2_control,
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author = {Magyar, Bence and Stogl, Denis and Knese, Karsten and Community},
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title = {Generic and simple controls framework for ROS 2},
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year = {2023},
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author = {Magyar, Bence and Stogl, Denis and Knese, Karsten and Community},
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title = {{Generic and Simple Controls Framework for ROS 2}},
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year = {2023},
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publisher = {GitHub},
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journal = {GitHub repository},
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url = {https://github.com/ros-controls/ros2_control}
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journal = {GitHub repository},
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url = {https://github.com/ros-controls/ros2_control},
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langid = {english}
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}
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@article{iiwa_stack,
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author={Hennersperger, Christoph and Fuerst, Bernhard and Virga, Salvatore and Zettinig, Oliver and Frisch, Benjamin and Neff, Thomas and Navab, Nassir},
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journal={IEEE Transactions on Medical Imaging},
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title={Towards MRI-Based Autonomous Robotic US Acquisitions: A First Feasibility Study},
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year={2017},
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volume={36},
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number={2},
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pages={538-548},
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doi={10.1109/TMI.2016.2620723}
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author = {Hennersperger, Christoph and Fuerst, Bernhard and Virga, Salvatore and Zettinig, Oliver and Frisch, Benjamin and Neff, Thomas and Navab, Nassir},
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journal = {IEEE Transactions on Medical Imaging},
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title = {{Towards MRI-Based Autonomous Robotic US Acquisitions: A First Feasibility Study}},
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year = {2017},
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volume = {36},
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number = {2},
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pages = {538-548},
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doi = {10.1109/TMI.2016.2620723},
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langid = {english}
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}
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@inproceedings{fri,
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title={The fast research interface for the kuka lightweight robot},
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author={Schreiber, G{\"u}nter and Stemmer, Andreas and Bischoff, Rainer},
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booktitle={IEEE workshop on innovative robot control architectures for demanding (Research) applications how to modify and enhance commercial controllers (ICRA 2010)},
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pages={15--21},
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year={2010},
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organization={Citeseer}
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title = {{The Fast Research Interface for the KUKA Lightweight Robot}},
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author = {Schreiber, G{\"u}nter and Stemmer, Andreas and Bischoff, Rainer},
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booktitle = {IEEE workshop on innovative robot control architectures for demanding (Research) applications how to modify and enhance commercial controllers (ICRA 2010)},
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pages = {15--21},
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year = {2010},
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organization = {Citeseer},
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langid = {english}
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}
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@inproceedings{gazebo,
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author={Koenig, N. and Howard, A.},
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booktitle={2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)},
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title={Design and use paradigms for Gazebo, an open-source multi-robot simulator},
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year={2004},
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volume={3},
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number={},
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pages={2149-2154 vol.3},
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doi={10.1109/IROS.2004.1389727}
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author = {Koenig, N. and Howard, A.},
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booktitle = {2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)},
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title = {{Design and Use Paradigms for Gazebo, an Open-Source Multi-Robot Simulator}},
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year = {2004},
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volume = {3},
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number = {},
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pages = {2149-2154 vol.3},
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doi = {10.1109/IROS.2004.1389727},
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langid = {english}
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}
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@article{ros2,
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doi = {10.1126/scirobotics.abm6074},
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url = {https://doi.org/10.1126%2Fscirobotics.abm6074},
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year = 2022,
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month = {may},
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publisher = {American Association for the Advancement of Science ({AAAS})},
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volume = {7},
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number = {66},
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author = {Steven Macenski and Tully Foote and Brian Gerkey and Chris Lalancette and William Woodall},
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title = {Robot Operating System 2: Design, architecture, and uses in the wild},
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journal = {Science Robotics}
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doi = {10.1126/scirobotics.abm6074},
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url = {https://doi.org/10.1126%2Fscirobotics.abm6074},
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year = 2022,
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month = {may},
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publisher = {American Association for the Advancement of Science ({AAAS})},
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volume = {7},
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number = {66},
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author = {Steven Macenski and Tully Foote and Brian Gerkey and Chris Lalancette and William Woodall},
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title = {{Robot Operating System 2: Design, Architecture, and Uses in the Wild}},
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journal = {Science Robotics},
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langid = {english}
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}
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@article{ros_control,
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author = {Chitta, Sachin and Marder-Eppstein, Eitan and Meeussen, Wim and Pradeep, Vijay and Rodr{\'i}guez Tsouroukdissian, Adolfo and Bohren, Jonathan and Coleman, David and Magyar, Bence and Raiola, Gennaro and L{\"u}dtke, Mathias and Fern{\'a}ndez Perdomo, Enrique},
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title = {ros\_control: A generic and simple control framework for ROS},
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journal = {The Journal of Open Source Software},
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year = {2017},
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doi = {10.21105/joss.00456},
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URL = {http://www.theoj.org/joss-papers/joss.00456/10.21105.joss.00456.pdf}
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author = {Chitta, Sachin and Marder-Eppstein, Eitan and Meeussen, Wim and Pradeep, Vijay and Rodr{\'i}guez Tsouroukdissian, Adolfo and Bohren, Jonathan and Coleman, David and Magyar, Bence and Raiola, Gennaro and L{\"u}dtke, Mathias and Fern{\'a}ndez Perdomo, Enrique},
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title = {{ros\_control: A Generic and Simple Control Framework for ROS}},
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journal = {The Journal of Open Source Software},
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year = {2017},
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doi = {10.21105/joss.00456},
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url = {http://www.theoj.org/joss-papers/joss.00456/10.21105.joss.00456.pdf},
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langid = {english}
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}
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@article{moveit,
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title={Reducing the barrier to entry of complex robotic software: a moveit! case study},
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author={Coleman, David and Sucan, Ioan and Chitta, Sachin and Correll, Nikolaus},
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journal={arXiv preprint arXiv:1404.3785},
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year={2014},
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doi={10.6092/JOSER_2014_05_01_p3}
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title = {{Reducing the Barrier to Entry of Complex Robotic Software: A MoveIt! Case Study}},
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author = {Coleman, David and Sucan, Ioan and Chitta, Sachin and Correll, Nikolaus},
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journal = {arXiv preprint arXiv:1404.3785},
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year = {2014},
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doi = {10.6092/JOSER_2014_05_01_p3},
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langid = {english}
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}

‎paper/paper.md

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Table: Overview of existing frameworks for interfacing the KUKA LBRs. A square indicates support for the respective feature. List of abbreviations: Hard Real-time (**RT**), Position Control (**Pos**), Impedance Control (**Imp**), Cartesian Impedance Control (**Cart Imp**), Hardware Interface (**HW IF**).
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# Acknowledgement
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We want to acknowledge the work in [@iiwa_stack], as their MoveIt configurations were utilized in a first iteration of this project.
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We want to acknowledge the work in @iiwa_stack, as their MoveIt configurations were utilized in a first iteration of this project.
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This work was supported by core funding from the Wellcome/EPSRC [WT203148/Z/16/Z; NS/A000049/1], the European Union’s Horizon 2020 research and innovation programme under grant agreement No 101016985 (FAROS project), and EPSRC under the UK Government Guarantee Extension (EP/Y024281/1, VITRRO).
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