{"id":"https://openalex.org/W2158126390","doi":"https://doi.org/10.1109/iros.2009.5354362","title":"Analysis of human-operated motions and trajectory replanning for kinematically redundant manipulators","display_name":"Analysis of human-operated motions and trajectory replanning for kinematically redundant manipulators","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2158126390","doi":"https://doi.org/10.1109/iros.2009.5354362","mag":"2158126390"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354362","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354362","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/A5061208883","display_name":"Uwe Mettin","orcid":null},"institutions":[{"id":"https://openalex.org/I90267481","display_name":"Ume\u00e5 University","ror":"https://ror.org/05kb8h459","country_code":"SE","type":"education","lineage":["https://openalex.org/I90267481"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Uwe Mettin","raw_affiliation_strings":["Department of Applied Physics and Electronics, Ume\u00e5 University, Umea, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Physics and Electronics, Ume\u00e5 University, Umea, Sweden","institution_ids":["https://openalex.org/I90267481"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016344301","display_name":"Simon Westerberg","orcid":null},"institutions":[{"id":"https://openalex.org/I90267481","display_name":"Ume\u00e5 University","ror":"https://ror.org/05kb8h459","country_code":"SE","type":"education","lineage":["https://openalex.org/I90267481"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Simon Westerberg","raw_affiliation_strings":["Department of Applied Physics and Electronics, Ume\u00e5 University, Umea, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Physics and Electronics, Ume\u00e5 University, Umea, Sweden","institution_ids":["https://openalex.org/I90267481"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044859972","display_name":"Anton Shiriaev","orcid":"https://orcid.org/0000-0002-9404-6442"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]},{"id":"https://openalex.org/I90267481","display_name":"Ume\u00e5 University","ror":"https://ror.org/05kb8h459","country_code":"SE","type":"education","lineage":["https://openalex.org/I90267481"]}],"countries":["NO","SE"],"is_corresponding":false,"raw_author_name":"Anton S. Shiriaev","raw_affiliation_strings":["Department of Applied Physics and Electronics, Ume\u00e5 University, Umea, Sweden","Department of Engineering Cybernetic, Norwegian University of Science and Technology, Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Physics and Electronics, Ume\u00e5 University, Umea, Sweden","institution_ids":["https://openalex.org/I90267481"]},{"raw_affiliation_string":"Department of Engineering Cybernetic, Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014565051","display_name":"Pedro La Hera","orcid":"https://orcid.org/0000-0002-5032-5087"},"institutions":[{"id":"https://openalex.org/I90267481","display_name":"Ume\u00e5 University","ror":"https://ror.org/05kb8h459","country_code":"SE","type":"education","lineage":["https://openalex.org/I90267481"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Pedro X. La Hera","raw_affiliation_strings":["Department of Applied Physics and Electronics, Ume\u00e5 University, Umea, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Physics and Electronics, Ume\u00e5 University, Umea, Sweden","institution_ids":["https://openalex.org/I90267481"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6889,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.74052424,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"795","last_page":"800"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9962000250816345,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.989300012588501,"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/kinematics","display_name":"Kinematics","score":0.8057323694229126},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.7297528386116028},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7093959450721741},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6106060743331909},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5490610003471375},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5438653826713562},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5399252772331238},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.41906487941741943},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.41073620319366455},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3373124599456787},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2477685809135437},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21983188390731812},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21306172013282776},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11628854274749756},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.101371169090271}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8057323694229126},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.7297528386116028},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7093959450721741},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6106060743331909},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5490610003471375},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5438653826713562},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5399252772331238},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.41906487941741943},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.41073620319366455},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3373124599456787},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2477685809135437},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21983188390731812},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21306172013282776},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11628854274749756},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.101371169090271},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/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/iros.2009.5354362","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354362","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15","score":0.6800000071525574}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W613314169","https://openalex.org/W1424654272","https://openalex.org/W1504362584","https://openalex.org/W1509235676","https://openalex.org/W1560270123","https://openalex.org/W1970412155","https://openalex.org/W2004406110","https://openalex.org/W2115091574","https://openalex.org/W2132347660","https://openalex.org/W2133809036","https://openalex.org/W2611243847"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W3033677963"],"abstract_inverted_index":{"We":[0,41],"consider":[1],"trajectory":[2],"planning":[3],"for":[4,75,81,100,110],"kinematically":[5],"redundant":[6],"manipulators":[7],"used":[8],"on":[9],"forestry":[10],"machines.":[11],"The":[12],"analysis":[13],"of":[14,30,37,49,87],"recorded":[15],"data":[16],"from":[17],"human":[18],"operation":[19],"reveals":[20],"that":[21,46,54,103],"the":[22,27,31,35,38,50,61,70,88,108],"driver":[23],"does":[24],"not":[25],"use":[26],"full":[28],"potential":[29],"machine":[32],"due":[33],"to":[34,107],"complexity":[36],"manipulation":[39],"task.":[40],"suggest":[42],"an":[43],"optimization":[44],"procedure":[45],"takes":[47],"advantage":[48],"kinematic":[51],"redundancy":[52],"so":[53],"time-efficient":[55],"joint":[56],"and":[57],"velocity":[58],"profiles":[59],"along":[60],"path":[62,83],"can":[63,104],"be":[64],"obtained.":[65],"Differential":[66],"constraints":[67,86],"imposed":[68],"by":[69,76],"manipulator":[71],"dynamics":[72],"are":[73,91],"accounted":[74],"employing":[77],"a":[78],"phase-plane":[79],"technique":[80],"admissible":[82],"timings.":[84],"Velocity":[85],"individual":[89],"joints":[90],"particularly":[92],"restrictive":[93],"in":[94],"hydraulic":[95],"manipulators.":[96],"Our":[97],"study":[98],"aims":[99],"semi-autonomous":[101],"schemes":[102],"provide":[105],"assistance":[106],"operator":[109],"executing":[111],"global":[112],"motions.":[113]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
