{"id":"https://openalex.org/W2016040484","doi":"https://doi.org/10.1109/humanoids.2013.7030024","title":"Real-time smooth task transitions for hierarchical inverse kinematics","display_name":"Real-time smooth task transitions for hierarchical inverse kinematics","publication_year":2013,"publication_date":"2013-10-01","ids":{"openalex":"https://openalex.org/W2016040484","doi":"https://doi.org/10.1109/humanoids.2013.7030024","mag":"2016040484"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2013.7030024","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2013.7030024","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)","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/A5029458573","display_name":"Gerardo Jarquin","orcid":null},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]},{"id":"https://openalex.org/I4210138439","display_name":"Centro de Investigaci\u00f3n en Materiales Avanzados","ror":"https://ror.org/03h954e30","country_code":"MX","type":"facility","lineage":["https://openalex.org/I4210138439"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Gerardo Jarquin","raw_affiliation_strings":["Robotics and Advanced Manufacturing Group, Centro de investigacin y de Estudios Avanzados del IPN, Saltillo, Coah, M\u00e9xico","Robotics and Advanced Manufacturing Group, Centro de investigacin y de Estudios Avanzados del IPN, Saltillo, Coah. M\u00e9xico"],"affiliations":[{"raw_affiliation_string":"Robotics and Advanced Manufacturing Group, Centro de investigacin y de Estudios Avanzados del IPN, Saltillo, Coah, M\u00e9xico","institution_ids":["https://openalex.org/I59361560","https://openalex.org/I4210138439"]},{"raw_affiliation_string":"Robotics and Advanced Manufacturing Group, Centro de investigacin y de Estudios Avanzados del IPN, Saltillo, Coah. M\u00e9xico","institution_ids":["https://openalex.org/I59361560","https://openalex.org/I4210138439"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006252575","display_name":"Adrien Escande","orcid":"https://orcid.org/0000-0003-3844-7986"},"institutions":[{"id":"https://openalex.org/I4210138439","display_name":"Centro de Investigaci\u00f3n en Materiales Avanzados","ror":"https://ror.org/03h954e30","country_code":"MX","type":"facility","lineage":["https://openalex.org/I4210138439"]},{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Adrien Escande","raw_affiliation_strings":["Robotics and Advanced Manufacturing Group, Centro de investigacin y de Estudios Avanzados del IPN, Saltillo, Coah, M\u00e9xico","CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/CRT, Japan"],"affiliations":[{"raw_affiliation_string":"Robotics and Advanced Manufacturing Group, Centro de investigacin y de Estudios Avanzados del IPN, Saltillo, Coah, M\u00e9xico","institution_ids":["https://openalex.org/I59361560","https://openalex.org/I4210138439"]},{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/CRT, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036640538","display_name":"Gustavo Arechavaleta","orcid":"https://orcid.org/0000-0002-5455-9681"},"institutions":[{"id":"https://openalex.org/I4210138439","display_name":"Centro de Investigaci\u00f3n en Materiales Avanzados","ror":"https://ror.org/03h954e30","country_code":"MX","type":"facility","lineage":["https://openalex.org/I4210138439"]},{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Gustavo Arechavaleta","raw_affiliation_strings":["Robotics and Advanced Manufacturing Group, Centro de investigacin y de Estudios Avanzados del IPN, Saltillo, Coah, M\u00e9xico","Robotics and Advanced Manufacturing Group, Centro de investigacin y de Estudios Avanzados del IPN, Saltillo, Coah. M\u00e9xico"],"affiliations":[{"raw_affiliation_string":"Robotics and Advanced Manufacturing Group, Centro de investigacin y de Estudios Avanzados del IPN, Saltillo, Coah, M\u00e9xico","institution_ids":["https://openalex.org/I59361560","https://openalex.org/I4210138439"]},{"raw_affiliation_string":"Robotics and Advanced Manufacturing Group, Centro de investigacin y de Estudios Avanzados del IPN, Saltillo, Coah. M\u00e9xico","institution_ids":["https://openalex.org/I59361560","https://openalex.org/I4210138439"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036087573","display_name":"Thomas Moulard","orcid":"https://orcid.org/0000-0002-7890-5366"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thomas Moulard","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory)","CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/CRT, Japan"],"affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory)","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/CRT, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080826821","display_name":"Eiichi Yoshida","orcid":"https://orcid.org/0000-0002-3077-6964"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eiichi Yoshida","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory)","CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/CRT, Japan"],"affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory)","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/CRT, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028434777","display_name":"Vicente Parra\u2010Vega","orcid":"https://orcid.org/0000-0002-1813-0394"},"institutions":[{"id":"https://openalex.org/I4210138439","display_name":"Centro de Investigaci\u00f3n en Materiales Avanzados","ror":"https://ror.org/03h954e30","country_code":"MX","type":"facility","lineage":["https://openalex.org/I4210138439"]},{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["MX","US"],"is_corresponding":false,"raw_author_name":"Vicente Parra-Vega","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory)","Robotics and Advanced Manufacturing Group, Centro de investigacin y de Estudios Avanzados del IPN, Saltillo, Coah. M\u00e9xico"],"affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory)","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Robotics and Advanced Manufacturing Group, Centro de investigacin y de Estudios Avanzados del IPN, Saltillo, Coah. M\u00e9xico","institution_ids":["https://openalex.org/I59361560","https://openalex.org/I4210138439"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5029458573"],"corresponding_institution_ids":["https://openalex.org/I4210138439","https://openalex.org/I59361560"],"apc_list":null,"apc_paid":null,"fwci":4.0397,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.9339461,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"528","last_page":"533"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9988999962806702,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9988999962806702,"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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9986000061035156,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9911999702453613,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7221813797950745},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.7130202054977417},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6848208904266357},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6409822106361389},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6399061679840088},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6385469436645508},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5144908428192139},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4427061378955841},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2909173369407654},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09885391592979431}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7221813797950745},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7130202054977417},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6848208904266357},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6409822106361389},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6399061679840088},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6385469436645508},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5144908428192139},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4427061378955841},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2909173369407654},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09885391592979431},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2013.7030024","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2013.7030024","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W92433665","https://openalex.org/W1971013425","https://openalex.org/W2025264287","https://openalex.org/W2049617391","https://openalex.org/W2053947939","https://openalex.org/W2062978913","https://openalex.org/W2065548345","https://openalex.org/W2072763216","https://openalex.org/W2117425572","https://openalex.org/W2122733092","https://openalex.org/W2130256951","https://openalex.org/W2131232094","https://openalex.org/W2135929901","https://openalex.org/W2160205694","https://openalex.org/W2169564405","https://openalex.org/W2543071036","https://openalex.org/W3088063282","https://openalex.org/W6603727592"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2380210784","https://openalex.org/W2962851396","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W2786331404","https://openalex.org/W1996912299"],"abstract_inverted_index":{"Hierarchical":[0],"inverse":[1],"kinematics":[2],"(HIK)":[3],"is":[4,42,182],"widely":[5],"used":[6,164],"for":[7,17],"generating":[8],"feasible":[9],"velocity":[10,28,171],"trajectories":[11,29],"that":[12,74],"serve":[13],"as":[14,22],"input":[15],"references":[16],"highly":[18],"redundant":[19],"robots":[20],"such":[21,73],"humanoid":[23,175,190],"robots.":[24,176],"To":[25],"generate":[26],"the":[27,47,51,54,60,71,75,93,121,136,140,170,188],"a":[30,67,115,124,158],"set":[31],"of":[32,50,56,70,123,126,139,173,179],"prioritized":[33,128],"tasks":[34,52,57,65],"should":[35,147,154],"be":[36,81,148,155,163],"provided.":[37],"For":[38],"some":[39],"applications,":[40],"it":[41],"not":[43,99,134],"necessary":[44],"to":[45,110,168],"change":[46],"priority":[48,122],"order":[49],"in":[53,92,165],"stack":[55],"(SoT)":[58],"along":[59],"motion":[61],"execution.":[62],"However,":[63],"complex":[64,193],"need":[66],"dynamic":[68],"behavior":[69],"SoT":[72],"insertion,":[76],"removal":[77],"or":[78],"swap":[79],"can":[80],"performed":[82],"at":[83,184],"running":[84],"time.":[85],"These":[86],"task":[87,112,146],"transitions":[88,113],"may":[89,162],"induce":[90],"discontinuities":[91],"joint":[94],"velocities":[95],"if":[96],"they":[97],"are":[98],"carefully":[100],"handled.":[101],"In":[102],"this":[103],"context,":[104],"we":[105],"propose":[106],"an":[107],"efficient":[108],"strategy":[109,161,181],"manage":[111],"through":[114],"simple":[116],"procedure":[117],"which":[118],"smoothly":[119],"interchange":[120],"couple":[125],"consecutive":[127],"tasks.":[129,195],"Furthermore,":[130],"our":[131,160,180],"method":[132],"does":[133],"increase":[135],"computational":[137],"cost":[138],"HIK":[141],"since":[142],"neither":[143],"any":[144],"additional":[145],"added,":[149],"nor":[150],"parallel":[151],"control":[152],"laws":[153],"computed.":[156],"As":[157],"result":[159],"real":[166,174],"time":[167],"produce":[169],"commands":[172],"The":[177],"effectiveness":[178],"verified":[183],"simulation":[185],"level":[186],"with":[187],"HRP-2":[189],"robot":[191],"performing":[192],"time-driven":[194]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
