{"id":"https://openalex.org/W1971374634","doi":"https://doi.org/10.1109/humanoids.2012.6651529","title":"Optimal command ordering for serial link manipulators","display_name":"Optimal command ordering for serial link manipulators","publication_year":2012,"publication_date":"2012-11-01","ids":{"openalex":"https://openalex.org/W1971374634","doi":"https://doi.org/10.1109/humanoids.2012.6651529","mag":"1971374634"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2012.6651529","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651529","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-106986","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060213000","display_name":"Christian Smith","orcid":"https://orcid.org/0000-0003-2078-8854"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Christian Smith","raw_affiliation_strings":["Centre for Autonomous Systems, Royal Institute of Technology, Stockholm, Sweden","Centre for Autonomous Syst., R. Inst. of Technol., Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Centre for Autonomous Syst., R. Inst. of Technol., Stockholm, Sweden","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066684950","display_name":"Yiannis Karayiannidis","orcid":"https://orcid.org/0000-0001-5129-342X"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Yiannis Karayiannidis","raw_affiliation_strings":["Centre for Autonomous Systems, Royal Institute of Technology, Stockholm, Sweden","Centre for Autonomous Syst., R. Inst. of Technol., Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Centre for Autonomous Syst., R. Inst. of Technol., Stockholm, Sweden","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":1.5982,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.78230459,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"255","last_page":"261"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9984999895095825,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9879000186920166,"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/computer-science","display_name":"Computer science","score":0.6877690553665161},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6859944462776184},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6359877586364746},{"id":"https://openalex.org/keywords/serial-communication","display_name":"Serial communication","score":0.6031103134155273},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.582427978515625},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5725668668746948},{"id":"https://openalex.org/keywords/communication-link","display_name":"Communication link","score":0.5455859899520874},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5357640385627747},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.520918071269989},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.5059944987297058},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4831354320049286},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.46073147654533386},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4391682744026184},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4204097390174866},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.20006483793258667},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19855797290802002},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1919924020767212},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1368168294429779},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10434496402740479},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.10216379165649414},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.09944969415664673}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6877690553665161},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6859944462776184},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6359877586364746},{"id":"https://openalex.org/C51707140","wikidata":"https://www.wikidata.org/wiki/Q518280","display_name":"Serial communication","level":2,"score":0.6031103134155273},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.582427978515625},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5725668668746948},{"id":"https://openalex.org/C2986660100","wikidata":"https://www.wikidata.org/wiki/Q1172466","display_name":"Communication link","level":2,"score":0.5455859899520874},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5357640385627747},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.520918071269989},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.5059944987297058},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4831354320049286},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.46073147654533386},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4391682744026184},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4204097390174866},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.20006483793258667},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19855797290802002},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1919924020767212},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1368168294429779},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10434496402740479},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.10216379165649414},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.09944969415664673},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/humanoids.2012.6651529","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651529","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.721.6977","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.721.6977","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cas.kth.se/%7Eccs/Publications/humanoids12.pdf","raw_type":"text"},{"id":"pmh:oai:DiVA.org:kth-106986","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-106986","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I86987016","host_organization_name":"KTH Royal Institute of Technology","host_organization_lineage":["https://openalex.org/I86987016"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:DiVA.org:kth-106986","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-106986","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I86987016","host_organization_name":"KTH Royal Institute of Technology","host_organization_lineage":["https://openalex.org/I86987016"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1502799216","https://openalex.org/W1572273685","https://openalex.org/W2000535285","https://openalex.org/W2052364637","https://openalex.org/W2090575924","https://openalex.org/W2092749880","https://openalex.org/W2104987780","https://openalex.org/W2116660002","https://openalex.org/W2116899502","https://openalex.org/W2117551464","https://openalex.org/W2120693140","https://openalex.org/W2125193285","https://openalex.org/W2127349248","https://openalex.org/W2157848027","https://openalex.org/W2165088024","https://openalex.org/W2167783228","https://openalex.org/W2520008375","https://openalex.org/W2546210067","https://openalex.org/W3147253688","https://openalex.org/W6673465665","https://openalex.org/W6678669206"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2525438122","https://openalex.org/W4256317079","https://openalex.org/W2030374020","https://openalex.org/W2392974303","https://openalex.org/W2377992602","https://openalex.org/W2150950995","https://openalex.org/W2157926775","https://openalex.org/W4386258978","https://openalex.org/W2392477072"],"abstract_inverted_index":{"Reducing":[0],"the":[1,7,53,57,73,101,112],"number":[2],"of":[3,11,19,21,60],"cables":[4],"needed":[5],"for":[6,35],"actuators":[8],"and":[9,13,83,96],"sensors":[10],"humanoid":[12],"other":[14],"robots":[15],"with":[16],"high":[17],"numbers":[18],"degrees":[20],"freedom":[22],"(DoF)":[23],"is":[24,91],"a":[25,32,61,80,85,98],"relevant":[26],"problem,":[27],"often":[28],"solved":[29],"by":[30,115],"using":[31],"common":[33],"bus":[34],"all":[36],"communication,":[37],"which":[38,68],"may":[39],"result":[40],"in":[41,93],"bandwidth":[42],"limitation":[43],"problems.":[44],"This":[45],"paper":[46],"proposes":[47],"an":[48,76],"optimized":[49],"method":[50,66],"to":[51,56,87,110,117],"re-order":[52],"commands":[54],"sent":[55],"joint-local":[58],"controllers":[59],"serial":[62],"manipulator.":[63],"The":[64],"proposed":[65],"evaluates":[67],"local":[69],"controller":[70],"would":[71],"benefit":[72],"most":[74],"from":[75],"updated":[77],"command":[78,86],"given":[79],"cost":[81],"function,":[82],"sends":[84],"this":[88],"controller.":[89],"As":[90],"demonstrated":[92],"both":[94],"simulation":[95],"on":[97],"real":[99],"robot,":[100],"resulting":[102],"scheme":[103],"can":[104],"significantly":[105],"improve":[106],"system":[107],"performance,":[108],"equivalent":[109],"increasing":[111],"communication":[113],"frequency":[114],"up":[116],"3":[118],"times.":[119]},"counts_by_year":[{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":2}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}
