{"id":"https://openalex.org/W2069022569","doi":"https://doi.org/10.1109/iros.2010.5653673","title":"Constrained resolved acceleration control for humanoids","display_name":"Constrained resolved acceleration control for humanoids","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2069022569","doi":"https://doi.org/10.1109/iros.2010.5653673","mag":"2069022569"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5653673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5653673","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5031340269","display_name":"Behzad Dariush","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"]},{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]}],"countries":["JP","US"],"is_corresponding":false,"raw_author_name":"Behzad Dariush","raw_affiliation_strings":["Honda Research Institute, Mountain View, CA, USA","Honda Research Institute, Mountain View, CA 94041 U.S.A"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute, Mountain View, CA, USA","institution_ids":["https://openalex.org/I4210145184"]},{"raw_affiliation_string":"Honda Research Institute, Mountain View, CA 94041 U.S.A","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053864165","display_name":"Ghassan Bin Hammam","orcid":null},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ghassan Bin Hammam","raw_affiliation_strings":["Department of Electrical & Computer Engineering, Ohio State Uinversity, Columbus, OH, USA","Department of Electrical and Computer Engineering, The Ohio State University, Columbus 43210, U.S.A"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical & Computer Engineering, Ohio State Uinversity, Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, The Ohio State University, Columbus 43210, U.S.A","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057364155","display_name":"David E. Orin","orcid":null},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Orin","raw_affiliation_strings":["Department of Electrical & Computer Engineering, Ohio State Uinversity, Columbus, OH, USA","Department of Electrical and Computer Engineering, The Ohio State University, Columbus 43210, U.S.A"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical & Computer Engineering, Ohio State Uinversity, Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, The Ohio State University, Columbus 43210, U.S.A","institution_ids":["https://openalex.org/I52357470"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4036,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.79661537,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"710","last_page":"717"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9991999864578247,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9991999864578247,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9987999796867371,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9980999827384949,"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/redundancy","display_name":"Redundancy (engineering)","score":0.8402910232543945},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7315371632575989},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6970465183258057},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6480344533920288},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5576589703559875},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.502269983291626},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.46773868799209595},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.41613173484802246},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.41286253929138184},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41086962819099426},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4056423306465149},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34245985746383667},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.34177619218826294},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3317270874977112},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2723090648651123},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22002792358398438},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16627201437950134}],"concepts":[{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.8402910232543945},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7315371632575989},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6970465183258057},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6480344533920288},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5576589703559875},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.502269983291626},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.46773868799209595},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.41613173484802246},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.41286253929138184},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41086962819099426},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4056423306465149},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34245985746383667},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34177619218826294},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3317270874977112},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2723090648651123},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22002792358398438},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16627201437950134},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2010.5653673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5653673","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.649.1875","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.649.1875","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://homepages.inf.ed.ac.uk/s0565544/0700.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5699999928474426,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1510918013","https://openalex.org/W1963726847","https://openalex.org/W1982442957","https://openalex.org/W1988183163","https://openalex.org/W2054552525","https://openalex.org/W2103120971","https://openalex.org/W2112474089","https://openalex.org/W2119403459","https://openalex.org/W2121924531","https://openalex.org/W2128128307","https://openalex.org/W2129373410","https://openalex.org/W2132294818","https://openalex.org/W2135929901","https://openalex.org/W2150913887","https://openalex.org/W2156441448","https://openalex.org/W2164032318","https://openalex.org/W2165623742","https://openalex.org/W6677600974"],"related_works":["https://openalex.org/W2543019745","https://openalex.org/W1532965292","https://openalex.org/W2531662632","https://openalex.org/W2314176764","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2541058374","https://openalex.org/W2163555676","https://openalex.org/W4386128912"],"abstract_inverted_index":{"Resolved":[0],"acceleration":[1,119],"control":[2,10,120,146],"is":[3,18,68,73,140,170],"a":[4,85,115],"well-known":[5],"strategy":[6],"used":[7],"in":[8,20,63],"tracking":[9],"of":[11,36,77,99,125,147,166,175],"robotic":[12],"systems":[13,28],"where":[14],"the":[15,50,66,71,167,183],"desired":[16],"motion":[17,67,180],"specified":[19],"task-space.":[21],"Typically,":[22],"such":[23,106,151],"controllers":[24],"are":[25],"developed":[26],"for":[27,130,144],"which":[29,53,87],"exhibit":[30],"redundancy":[31,40,89],"with":[32,90],"respect":[33,91],"to":[34,52,92,101,122],"execution":[35,76,124],"operational":[37,93,126],"tasks.":[38],"While":[39],"fundamentally":[41],"adds":[42],"new":[43],"capabilities":[44],"(self-motion":[45],"and":[46,70,128,132,161],"subtask":[47],"performance":[48],"capability),":[49],"degree":[51],"secondary":[54,78],"objectives":[55,79,105],"can":[56],"be":[57,61,81],"faithfully":[58],"executed":[59],"cannot":[60,80],"determined":[62],"advance":[64],"unless":[65],"planned":[69],"environment":[72],"known.":[74],"Therefore,":[75],"guaranteed.":[82],"In":[83,110],"fact,":[84],"robot":[86,149],"exhibits":[88],"tasks":[94,127],"may":[95],"have":[96],"insufficient":[97],"degrees":[98],"freedom":[100],"fulfill":[102],"more":[103],"critical":[104],"as":[107,152],"enforcing":[108],"constraints.":[109,163],"this":[111],"paper,":[112],"we":[113],"present":[114],"generalized":[116],"constrained":[117],"resolved":[118],"framework":[121],"handle":[123],"constraints":[129],"redundant":[131],"non-redundant":[133],"task":[134,176],"(and":[135],"constraint)":[136],"specifications.":[137],"The":[138,155,164],"approach":[139],"particularly":[141],"well":[142],"suited":[143],"online":[145],"complex":[148],"structures":[150],"humanoid":[153,185],"robots.":[154],"current":[156],"formulation":[157],"considers":[158],"joint":[159],"limit":[160],"collision":[162],"efficacy":[165],"proposed":[168],"algorithm":[169],"demonstrated":[171],"by":[172],"simulated":[173],"experiments":[174],"level":[177],"upper-body":[178],"human":[179],"replication":[181],"on":[182],"Honda":[184],"robot.":[186]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}