{"id":"https://openalex.org/W2967293491","doi":"https://doi.org/10.1109/icra.2019.8794071","title":"optimization-Based Human-in-the-Loop Manipulation Using Joint Space Polytopes","display_name":"optimization-Based Human-in-the-Loop Manipulation Using Joint Space Polytopes","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2967293491","doi":"https://doi.org/10.1109/icra.2019.8794071","mag":"2967293491"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794071","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794071","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-03189857","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032514931","display_name":"Philip Long","orcid":"https://orcid.org/0000-0002-0784-8720"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Philip Long","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Northeastern University, Boston, Massauchusetts, USA","Northeastern University [Boston]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Northeastern University, Boston, Massauchusetts, USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Northeastern University [Boston]","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022064886","display_name":"Tarik Kele\u015ftemur","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tarik Kelestemur","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Northeastern University, Boston, Massauchusetts, USA","Northeastern University [Boston]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Northeastern University, Boston, Massauchusetts, USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Northeastern University [Boston]","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002854777","display_name":"Aykut \u00d6zg\u00fcn \u00d6nol","orcid":"https://orcid.org/0000-0001-9394-1982"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aykut Ozgun Onol","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Northeastern University, Boston, Massauchusetts, USA","Northeastern University [Boston]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Northeastern University, Boston, Massauchusetts, USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Northeastern University [Boston]","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009032681","display_name":"Ta\u015fk\u0131n Pad\u0131r","orcid":"https://orcid.org/0000-0001-5123-5801"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Taskin Padir","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Northeastern University, Boston, Massauchusetts, USA","Northeastern University [Boston]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Northeastern University, Boston, Massauchusetts, USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Northeastern University [Boston]","institution_ids":["https://openalex.org/I12912129"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9152,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.79281024,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"204","last_page":"210"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9980000257492065,"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/polytope","display_name":"Polytope","score":0.7674767971038818},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6087058186531067},{"id":"https://openalex.org/keywords/polyhedron","display_name":"Polyhedron","score":0.5847924947738647},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5206072330474854},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5057377815246582},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.501744270324707},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.4876819849014282},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.42859119176864624},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.41809773445129395},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.41586968302726746},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.41240280866622925},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.39666324853897095},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36491966247558594},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2328437864780426},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13754138350486755},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07027402520179749}],"concepts":[{"id":"https://openalex.org/C145691206","wikidata":"https://www.wikidata.org/wiki/Q747980","display_name":"Polytope","level":2,"score":0.7674767971038818},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6087058186531067},{"id":"https://openalex.org/C54829058","wikidata":"https://www.wikidata.org/wiki/Q172937","display_name":"Polyhedron","level":2,"score":0.5847924947738647},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5206072330474854},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5057377815246582},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.501744270324707},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.4876819849014282},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.42859119176864624},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.41809773445129395},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.41586968302726746},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.41240280866622925},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.39666324853897095},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36491966247558594},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2328437864780426},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13754138350486755},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07027402520179749},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2019.8794071","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794071","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-03189857v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03189857","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"2019 International Conference on Robotics and Automation (ICRA), May 2019, Montreal, Canada. pp.204-210, ⟨10.1109/ICRA.2019.8794071⟩","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-03189857v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03189857","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"2019 International Conference on Robotics and Automation (ICRA), May 2019, Montreal, Canada. pp.204-210, ⟨10.1109/ICRA.2019.8794071⟩","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W18288968","https://openalex.org/W301947972","https://openalex.org/W1526262508","https://openalex.org/W1915767076","https://openalex.org/W1970101292","https://openalex.org/W1982023924","https://openalex.org/W1993999483","https://openalex.org/W2004139909","https://openalex.org/W2019965290","https://openalex.org/W2044544244","https://openalex.org/W2047193386","https://openalex.org/W2089145243","https://openalex.org/W2092702012","https://openalex.org/W2099893201","https://openalex.org/W2110307800","https://openalex.org/W2113122194","https://openalex.org/W2116833377","https://openalex.org/W2142224528","https://openalex.org/W2152536965","https://openalex.org/W2153504150","https://openalex.org/W2157476440","https://openalex.org/W2294389641","https://openalex.org/W2416909497","https://openalex.org/W2474124859","https://openalex.org/W2561284084","https://openalex.org/W2564178275","https://openalex.org/W2627062745","https://openalex.org/W2732637790","https://openalex.org/W2738002872","https://openalex.org/W2774451424","https://openalex.org/W2788030459","https://openalex.org/W2806337106","https://openalex.org/W2912685007","https://openalex.org/W3101026385","https://openalex.org/W3180482864","https://openalex.org/W3193508208","https://openalex.org/W6600740208","https://openalex.org/W7001322157"],"related_works":["https://openalex.org/W2916043681","https://openalex.org/W2896131632","https://openalex.org/W4280529077","https://openalex.org/W2391438543","https://openalex.org/W2008231869","https://openalex.org/W323119424","https://openalex.org/W2551069560","https://openalex.org/W2522231841","https://openalex.org/W2997473813","https://openalex.org/W2327310844"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,12,16],"new":[4],"method":[5],"of":[6,44,73],"maximizing":[7],"the":[8,27,38,42,47,56,60,66,74,87,103],"free":[9,45],"space":[10],"for":[11],"robot":[13],"operating":[14],"in":[15,37,80,112],"constrained":[17,48],"environment":[18],"under":[19],"operator":[20,33],"supervision.":[21],"The":[22,71,107],"objective":[23],"is":[24,78,110],"to":[25,32,58,62,68,85],"make":[26],"resulting":[28,75],"trajectories":[29],"more":[30],"robust":[31],"commands":[34],"and/or":[35],"changes":[36],"environment.":[39],"To":[40],"represent":[41],"volume":[43,72],"space,":[46],"manipulability":[49],"polytopes":[50,54],"are":[51],"used.":[52],"These":[53],"embed":[55],"distance":[57,61,67],"obstacles,":[59],"joint":[63],"limits":[64],"and":[65,114],"singular":[69],"configurations.":[70],"Cartesian":[76],"polyhedron":[77],"used":[79],"an":[81],"optimization-based":[82],"motion":[83],"planner":[84],"create":[86],"trajectories.":[88],"Additionally,":[89],"we":[90],"show":[91],"how":[92],"fast":[93],"collision-free":[94],"inverse":[95],"kinematic":[96],"solutions":[97],"can":[98],"be":[99],"obtained":[100],"by":[101],"exploiting":[102],"pre-computed":[104],"inequality":[105],"constraints.":[106],"proposed":[108],"algorithm":[109],"validated":[111],"simulation":[113],"experimentally.":[115]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}