{"id":"https://openalex.org/W2124538551","doi":"https://doi.org/10.1109/iros.2009.5354341","title":"Prioritized optimization for task-space control","display_name":"Prioritized optimization for task-space control","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2124538551","doi":"https://doi.org/10.1109/iros.2009.5354341","mag":"2124538551"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354341","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5058003573","display_name":"Martin de Lasa","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Martin de Lasa","raw_affiliation_strings":["Department of Computer Science, University of Toronto, Toronto, ONT, Canada","Dept. of Computer Science, University of Toronto, 10 King's College Road, ON, CANADA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Toronto, Toronto, ONT, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Dept. of Computer Science, University of Toronto, 10 King's College Road, ON, CANADA","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061237128","display_name":"Aaron Hertzmann","orcid":"https://orcid.org/0000-0001-9667-0292"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Aaron Hertzmann","raw_affiliation_strings":["Department of Computer Science, University of Toronto, Toronto, ONT, Canada","Dept. of Computer Science, University of Toronto, 10 King's College Road, ON, CANADA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Toronto, Toronto, ONT, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Dept. of Computer Science, University of Toronto, 10 King's College Road, ON, CANADA","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5058003573"],"corresponding_institution_ids":["https://openalex.org/I185261750"],"apc_list":null,"apc_paid":null,"fwci":7.6985,"has_fulltext":false,"cited_by_count":63,"citation_normalized_percentile":{"value":0.96974377,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5755","last_page":"5762"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9965000152587891,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9950000047683716,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6603811383247375},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.6603404879570007},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6262469291687012},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.5371096730232239},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5222940444946289},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.510651171207428},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5100222229957581},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.5081140995025635},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.47076180577278137},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.46953094005584717},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4487612545490265},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4426831007003784},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20360374450683594},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19292110204696655},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13945531845092773},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08961021900177002}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6603811383247375},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.6603404879570007},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6262469291687012},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.5371096730232239},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5222940444946289},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.510651171207428},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5100222229957581},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.5081140995025635},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.47076180577278137},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.46953094005584717},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4487612545490265},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4426831007003784},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20360374450683594},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19292110204696655},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13945531845092773},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08961021900177002},{"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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/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},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2009.5354341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354341","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.152.6642","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.152.6642","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.dgp.toronto.edu/~mdelasa/iros09/mdelasa_iros09.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W1559393815","https://openalex.org/W1941843239","https://openalex.org/W1980440818","https://openalex.org/W2042803738","https://openalex.org/W2049617391","https://openalex.org/W2066379939","https://openalex.org/W2099038500","https://openalex.org/W2108121392","https://openalex.org/W2112474089","https://openalex.org/W2115673726","https://openalex.org/W2121134834","https://openalex.org/W2121924531","https://openalex.org/W2127988374","https://openalex.org/W2129224530","https://openalex.org/W2139816686","https://openalex.org/W2146764783","https://openalex.org/W2148222637","https://openalex.org/W2151775748","https://openalex.org/W2164032318","https://openalex.org/W2164288353","https://openalex.org/W2169564405","https://openalex.org/W2296319761","https://openalex.org/W2577523912","https://openalex.org/W3088063282","https://openalex.org/W4250589301","https://openalex.org/W6662946448","https://openalex.org/W6674850639","https://openalex.org/W6684180196"],"related_works":["https://openalex.org/W2186864281","https://openalex.org/W4255427455","https://openalex.org/W1966025497","https://openalex.org/W68941528","https://openalex.org/W2390829436","https://openalex.org/W1971289376","https://openalex.org/W1989791859","https://openalex.org/W4206451355","https://openalex.org/W8322802","https://openalex.org/W2047206873"],"abstract_inverted_index":{"We":[0,26,43],"introduce":[1],"an":[2,36],"optimization":[3,7],"framework":[4],"called":[5],"prioritized":[6,82],"control,":[8],"in":[9,51,96],"which":[10],"a":[11],"nested":[12],"sequence":[13],"of":[14,31],"objectives":[15,33],"are":[16],"optimized":[17],"so":[18],"as":[19],"not":[20],"to":[21],"conflict":[22],"with":[23],"higher-priority":[24],"objectives.":[25],"focus":[27],"on":[28,58],"the":[29,56],"case":[30],"quadratic":[32],"and":[34,54,69,84],"derive":[35],"efficient":[37],"recursive":[38],"solver":[39],"for":[40,92],"this":[41,52],"case.":[42],"show":[44],"how":[45],"task-space":[46,77,83],"control":[47,61,90],"can":[48],"be":[49],"formulated":[50],"framework,":[53],"demonstrate":[55],"technique":[57],"three":[59],"sample":[60],"problems.":[62],"The":[63],"proposed":[64],"formulation":[65],"supports":[66],"acceleration,":[67],"torque,":[68],"bilateral":[70],"force":[71],"constraints,":[72],"while":[73],"simplifying":[74],"reasoning":[75],"about":[76],"control.":[78,86],"This":[79],"scheme":[80],"unifies":[81],"optimization-based":[85],"Our":[87],"method":[88],"computes":[89],"torques":[91],"all":[93],"presented":[94],"examples":[95],"real-time.":[97]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":5}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
