{"id":"https://openalex.org/W4401414055","doi":"https://doi.org/10.1109/icra57147.2024.10611295","title":"Quadratic Programming Based Inverse Kinematics for Precise Bimanual Manipulation","display_name":"Quadratic Programming Based Inverse Kinematics for Precise Bimanual Manipulation","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414055","doi":"https://doi.org/10.1109/icra57147.2024.10611295"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611295","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611295","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5030526078","display_name":"Tomohiro Chaki","orcid":"https://orcid.org/0000-0001-8898-3977"},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomohiro Chaki","raw_affiliation_strings":["Honda R&amp;D Co., Ltd.,Wako, Saitama,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda R&amp;D Co., Ltd.,Wako, Saitama,Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112508270","display_name":"Tomohiro Kawakami","orcid":null},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomohiro Kawakami","raw_affiliation_strings":["Honda R&amp;D Co., Ltd.,Wako, Saitama,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda R&amp;D Co., Ltd.,Wako, Saitama,Japan","institution_ids":["https://openalex.org/I1283473643"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1283473643"],"apc_list":null,"apc_paid":null,"fwci":4.4383,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.95499676,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"16024","last_page":"16030"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9998000264167786,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9957000017166138,"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/inverse-kinematics","display_name":"Inverse kinematics","score":0.8288493156433105},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7259363532066345},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.6618108153343201},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6380927562713623},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.6144421100616455},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.4773435890674591},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.4538002908229828},{"id":"https://openalex.org/keywords/sequential-quadratic-programming","display_name":"Sequential quadratic programming","score":0.44882187247276306},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4107341170310974},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.36252498626708984},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3215910792350769},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28579747676849365},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23295319080352783},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22747087478637695},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.09916859865188599},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09420546889305115},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07242980599403381},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07178202271461487}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.8288493156433105},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7259363532066345},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.6618108153343201},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6380927562713623},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.6144421100616455},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.4773435890674591},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.4538002908229828},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.44882187247276306},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4107341170310974},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.36252498626708984},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3215910792350769},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28579747676849365},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23295319080352783},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22747087478637695},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.09916859865188599},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09420546889305115},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07242980599403381},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07178202271461487},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611295","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611295","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","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":20,"referenced_works":["https://openalex.org/W2008418625","https://openalex.org/W2008591009","https://openalex.org/W2018860673","https://openalex.org/W2042803738","https://openalex.org/W2104906962","https://openalex.org/W2112474089","https://openalex.org/W2119514858","https://openalex.org/W2141222604","https://openalex.org/W2147168033","https://openalex.org/W2163533523","https://openalex.org/W2255696229","https://openalex.org/W2766050731","https://openalex.org/W2800788658","https://openalex.org/W2891095726","https://openalex.org/W2981381355","https://openalex.org/W2986736840","https://openalex.org/W3200676471","https://openalex.org/W4285102438","https://openalex.org/W4318953217","https://openalex.org/W4385430674"],"related_works":["https://openalex.org/W4206704743","https://openalex.org/W4313119266","https://openalex.org/W2164807043","https://openalex.org/W2019128690","https://openalex.org/W4231448069","https://openalex.org/W2128461291","https://openalex.org/W2355907103","https://openalex.org/W2744818472","https://openalex.org/W2270789747","https://openalex.org/W436931041"],"abstract_inverted_index":{"We":[0,75],"discuss":[1],"the":[2,11,29,34,46,78,86,94],"precise":[3],"cooperative":[4,15],"motion":[5],"of":[6,14],"a":[7,18,63,105],"dual":[8],"manipulator.":[9],"In":[10],"inverse":[12],"kinematics":[13],"redundant":[16],"manipulators,":[17],"hierarchical":[19],"method":[20,27,121],"using":[21],"null":[22],"space":[23],"and":[24,58,69,126],"an":[25],"optimization":[26],"prioritizing":[28],"end-effectors":[30],"relative":[31,47,88],"position":[32,48,89],"in":[33,52,82,93],"objective":[35],"function":[36],"have":[37,109],"been":[38],"proposed.":[39],"However,":[40],"there":[41],"is":[42],"no":[43],"guarantee":[44],"that":[45],"will":[49],"be":[50,73],"maintained":[51],"regions":[53],"subject":[54],"to":[55,103],"joint":[56],"limits":[57],"task-space":[59],"reachability":[60],"constraints.":[61],"As":[62],"result,":[64],"unacceptable":[65],"errors":[66,81],"may":[67],"occur,":[68],"some":[70],"tasks":[71],"cannot":[72],"accomplished.":[74],"propose":[76],"designing":[77],"maximum":[79],"permissible":[80],"advance":[83],"by":[84,115,124],"expressing":[85],"target":[87],"as":[90],"inequality":[91],"constraints":[92],"Quadratic":[95],"Programming":[96],"(QP)":[97],"problem.":[98],"By":[99],"extending":[100],"its":[101],"description":[102],"include":[104],"virtual":[106],"spring,":[107],"we":[108],"also":[110],"achieved":[111],"subtle":[112],"force":[113],"application":[114],"two":[116],"cooperated":[117],"manipulators.":[118],"The":[119],"proposed":[120],"was":[122],"verified":[123],"simulation":[125],"experiments.":[127]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
