{"id":"https://openalex.org/W2123516431","doi":"https://doi.org/10.1109/adprl.2009.4927525","title":"Hierarchical optimal control of a 7-DOF arm model","display_name":"Hierarchical optimal control of a 7-DOF arm model","publication_year":2009,"publication_date":"2009-03-01","ids":{"openalex":"https://openalex.org/W2123516431","doi":"https://doi.org/10.1109/adprl.2009.4927525","mag":"2123516431"},"language":"en","primary_location":{"id":"doi:10.1109/adprl.2009.4927525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/adprl.2009.4927525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100326811","display_name":"Dan Liu","orcid":"https://orcid.org/0000-0001-7536-1482"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Dan Liu","raw_affiliation_strings":["Department of Cognitive Science, University of California, San Diego, San Diego, USA","Dept. of Cognitive Science, UC San Diego, USA"],"affiliations":[{"raw_affiliation_string":"Department of Cognitive Science, University of California, San Diego, San Diego, USA","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"Dept. of Cognitive Science, UC San Diego, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108520754","display_name":"Emanuel Todorov","orcid":null},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Emanuel Todorov","raw_affiliation_strings":["Department of Cognitive Science, University of California, San Diego, San Diego, USA","Dept. of Cognitive Science, UC San Diego, USA"],"affiliations":[{"raw_affiliation_string":"Department of Cognitive Science, University of California, San Diego, San Diego, USA","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"Dept. of Cognitive Science, UC San Diego, USA","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100326811"],"corresponding_institution_ids":["https://openalex.org/I36258959"],"apc_list":null,"apc_paid":null,"fwci":1.1253,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.77240972,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"50","last_page":"57"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.8605644702911377},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7074074745178223},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.7022172808647156},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6884536743164062},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6564266681671143},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5484708547592163},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5237748026847839},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.486637681722641},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.436564564704895},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.430935800075531},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.42534974217414856},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.41674357652664185},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38841164112091064},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24319615960121155},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20096945762634277},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.18003922700881958},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15848061442375183}],"concepts":[{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.8605644702911377},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7074074745178223},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.7022172808647156},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6884536743164062},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6564266681671143},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5484708547592163},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5237748026847839},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.486637681722641},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.436564564704895},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.430935800075531},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.42534974217414856},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.41674357652664185},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38841164112091064},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24319615960121155},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20096945762634277},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.18003922700881958},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15848061442375183},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/adprl.2009.4927525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/adprl.2009.4927525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.296.7378","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.296.7378","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://homes.cs.washington.edu/~todorov/papers/hierarchical_ADPRL.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8399999737739563,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W195033972","https://openalex.org/W1483009182","https://openalex.org/W1575214394","https://openalex.org/W1887006513","https://openalex.org/W1965334335","https://openalex.org/W1973012362","https://openalex.org/W1980440818","https://openalex.org/W1993266190","https://openalex.org/W2067440245","https://openalex.org/W2112474089","https://openalex.org/W2144690891","https://openalex.org/W2148786331","https://openalex.org/W2167856595","https://openalex.org/W2179427518","https://openalex.org/W3148499377","https://openalex.org/W3160954918","https://openalex.org/W4239127880","https://openalex.org/W4292872153","https://openalex.org/W6607786297","https://openalex.org/W6628832265","https://openalex.org/W6634413214","https://openalex.org/W6682066747"],"related_works":["https://openalex.org/W4296209631","https://openalex.org/W2561617217","https://openalex.org/W4294811468","https://openalex.org/W2355801475","https://openalex.org/W2170062176","https://openalex.org/W4206659427","https://openalex.org/W4300013288","https://openalex.org/W1977095816","https://openalex.org/W2088811509","https://openalex.org/W3215005299"],"abstract_inverted_index":{"We":[0,72],"apply":[1],"a":[2,7,75,79,113,118],"hierarchical":[3],"control":[4,33,63],"framework":[5],"to":[6,40,58,77,82],"realistic":[8],"arm":[9,20,84],"model.":[10],"With":[11],"7":[12],"degrees":[13],"of":[14,45,70,103,117],"freedom":[15],"and":[16,31,92],"14":[17],"muscles,":[18],"this":[19,106],"model":[21,116],"has":[22],"complex":[23,47],"nonlinear":[24],"dynamics":[25,50],"operating":[26],"on":[27],"28-dimensional":[28],"state":[29],"space":[30],"14-dimensional":[32],"space.":[34],"A":[35],"high-level":[36,90],"controller":[37,81,111],"is":[38,107],"designed":[39],"capture":[41],"the":[42,46,60,68,94,101,108],"main":[43],"features":[44],"high-dimensional":[48],"plant":[49],"but":[51],"with":[52,89],"reduced":[53],"dimensionality.":[54,71],"This":[55],"allows":[56],"us":[57],"solve":[59],"original":[61],"optimal":[62],"problem":[64],"without":[65],"running":[66],"into":[67],"curse":[69],"also":[73],"provide":[74],"method":[76],"design":[78],"low-level":[80],"generate":[83],"configurations":[85],"that":[86],"are":[87],"consistent":[88],"controls":[91],"at":[93],"same":[95],"time":[96],"satisfy":[97],"biological":[98],"constraints.":[99],"To":[100],"best":[102],"our":[104],"knowledge,":[105],"first":[109],"feedback":[110],"for":[112],"detailed":[114],"3-D":[115],"human":[119],"arm.":[120]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
