{"id":"https://openalex.org/W2141759922","doi":"https://doi.org/10.1109/iros.2011.6094626","title":"Time parametrization of prioritized inverse kinematics based on terminal attractors","display_name":"Time parametrization of prioritized inverse kinematics based on terminal attractors","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2141759922","doi":"https://doi.org/10.1109/iros.2011.6094626","mag":"2141759922"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094626","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094626","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 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/A5029458573","display_name":"Gerardo Jarquin","orcid":null},"institutions":[{"id":"https://openalex.org/I4210138439","display_name":"Centro de Investigaci\u00f3n en Materiales Avanzados","ror":"https://ror.org/03h954e30","country_code":"MX","type":"facility","lineage":["https://openalex.org/I4210138439"]},{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"G. Jarquin","raw_affiliation_strings":["Advanced Manufacturing Group, Centro de Investigaci\u00f3n y de Estudios Avanzados del IPN, Saltillo, Mexico","Robotics and Advanced Manufacturing Group, Centro de Investigaci\u00f3n y de Estudios Avanzados del IPN, Saltillo, Coah. M\u00e9xico"],"affiliations":[{"raw_affiliation_string":"Advanced Manufacturing Group, Centro de Investigaci\u00f3n y de Estudios Avanzados del IPN, Saltillo, Mexico","institution_ids":["https://openalex.org/I59361560","https://openalex.org/I4210138439"]},{"raw_affiliation_string":"Robotics and Advanced Manufacturing Group, Centro de Investigaci\u00f3n y de Estudios Avanzados del IPN, Saltillo, Coah. M\u00e9xico","institution_ids":["https://openalex.org/I59361560","https://openalex.org/I4210138439"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036640538","display_name":"Gustavo Arechavaleta","orcid":"https://orcid.org/0000-0002-5455-9681"},"institutions":[{"id":"https://openalex.org/I4210138439","display_name":"Centro de Investigaci\u00f3n en Materiales Avanzados","ror":"https://ror.org/03h954e30","country_code":"MX","type":"facility","lineage":["https://openalex.org/I4210138439"]},{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"G. Arechavaleta","raw_affiliation_strings":["Advanced Manufacturing Group, Centro de Investigaci\u00f3n y de Estudios Avanzados del IPN, Saltillo, Mexico","Robotics and Advanced Manufacturing Group, Centro de Investigaci\u00f3n y de Estudios Avanzados del IPN, Saltillo, Coah. M\u00e9xico"],"affiliations":[{"raw_affiliation_string":"Advanced Manufacturing Group, Centro de Investigaci\u00f3n y de Estudios Avanzados del IPN, Saltillo, Mexico","institution_ids":["https://openalex.org/I59361560","https://openalex.org/I4210138439"]},{"raw_affiliation_string":"Robotics and Advanced Manufacturing Group, Centro de Investigaci\u00f3n y de Estudios Avanzados del IPN, Saltillo, Coah. M\u00e9xico","institution_ids":["https://openalex.org/I59361560","https://openalex.org/I4210138439"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028434777","display_name":"Vicente Parra\u2010Vega","orcid":"https://orcid.org/0000-0002-1813-0394"},"institutions":[{"id":"https://openalex.org/I4210138439","display_name":"Centro de Investigaci\u00f3n en Materiales Avanzados","ror":"https://ror.org/03h954e30","country_code":"MX","type":"facility","lineage":["https://openalex.org/I4210138439"]},{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"V. Parra-Vega","raw_affiliation_strings":["Advanced Manufacturing Group, Centro de Investigaci\u00f3n y de Estudios Avanzados del IPN, Saltillo, Mexico","Robotics and Advanced Manufacturing Group, Centro de Investigaci\u00f3n y de Estudios Avanzados del IPN, Saltillo, Coah. M\u00e9xico"],"affiliations":[{"raw_affiliation_string":"Advanced Manufacturing Group, Centro de Investigaci\u00f3n y de Estudios Avanzados del IPN, Saltillo, Mexico","institution_ids":["https://openalex.org/I59361560","https://openalex.org/I4210138439"]},{"raw_affiliation_string":"Robotics and Advanced Manufacturing Group, Centro de Investigaci\u00f3n y de Estudios Avanzados del IPN, Saltillo, Coah. M\u00e9xico","institution_ids":["https://openalex.org/I59361560","https://openalex.org/I4210138439"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5029458573"],"corresponding_institution_ids":["https://openalex.org/I4210138439","https://openalex.org/I59361560"],"apc_list":null,"apc_paid":null,"fwci":1.058,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.7897818,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"7","issue":null,"first_page":"1612","last_page":"1617"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9994000196456909,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9991999864578247,"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/inverse-kinematics","display_name":"Inverse kinematics","score":0.7875178456306458},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7632739543914795},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6646246910095215},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6401516199111938},{"id":"https://openalex.org/keywords/attractor","display_name":"Attractor","score":0.5994086265563965},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5784456133842468},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5516682863235474},{"id":"https://openalex.org/keywords/parametrization","display_name":"Parametrization (atmospheric modeling)","score":0.5434823036193848},{"id":"https://openalex.org/keywords/terminal","display_name":"Terminal (telecommunication)","score":0.5391753911972046},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5305212736129761},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5255626440048218},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5116739273071289},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.47954273223876953},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4729606509208679},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4512547254562378},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.43257948756217957},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4240504503250122},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2852051556110382},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2130340337753296},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19033116102218628},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13344234228134155},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08450835943222046}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7875178456306458},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7632739543914795},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6646246910095215},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6401516199111938},{"id":"https://openalex.org/C164380108","wikidata":"https://www.wikidata.org/wiki/Q507187","display_name":"Attractor","level":2,"score":0.5994086265563965},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5784456133842468},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5516682863235474},{"id":"https://openalex.org/C202887219","wikidata":"https://www.wikidata.org/wiki/Q3895221","display_name":"Parametrization (atmospheric modeling)","level":3,"score":0.5434823036193848},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.5391753911972046},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5305212736129761},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5255626440048218},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5116739273071289},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.47954273223876953},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4729606509208679},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4512547254562378},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.43257948756217957},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4240504503250122},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2852051556110382},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2130340337753296},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19033116102218628},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13344234228134155},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08450835943222046},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74902906","wikidata":"https://www.wikidata.org/wiki/Q1190858","display_name":"Radiative transfer","level":2,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2011.6094626","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094626","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1582076359","https://openalex.org/W2015003349","https://openalex.org/W2049617391","https://openalex.org/W2062978913","https://openalex.org/W2072763216","https://openalex.org/W2093430865","https://openalex.org/W2108480458","https://openalex.org/W2122733092","https://openalex.org/W2130256951","https://openalex.org/W2153577013","https://openalex.org/W2154124367","https://openalex.org/W2158021637","https://openalex.org/W2158837659","https://openalex.org/W2168224515","https://openalex.org/W3088063282"],"related_works":["https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W1253671258","https://openalex.org/W3134555460","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W4396731552","https://openalex.org/W2607470227","https://openalex.org/W2351331567","https://openalex.org/W2889305167"],"abstract_inverted_index":{"Classical":[0],"prioritized":[1,17],"inverse":[2],"kinematics":[3],"(PIK)":[4],"allows":[5],"to":[6,15,23,40],"generate":[7],"admissible":[8],"trajectories":[9],"for":[10,49,69,88],"redundant":[11,123],"robotic":[12,116,124],"systems":[13],"according":[14],"a":[16,34,121],"finite":[18],"set":[19],"of":[20,66,82,93],"kinematic":[21],"tasks":[22,104],"simultaneously":[24],"handle":[25],"multiple":[26],"posture":[27],"constraints.":[28],"In":[29],"this":[30],"paper,":[31],"we":[32,84],"propose":[33],"novel":[35],"regulation":[36],"scheme":[37,109],"that":[38],"permits":[39],"define":[41],"terminal":[42],"attractors":[43],"(TA)":[44],"at":[45],"each":[46,94],"priority":[47],"level":[48],"satisfying":[50],"an":[51],"additional":[52],"constraint":[53],"which":[54],"is":[55,110],"the":[56,64,71,79],"final":[57],"time.":[58],"TA":[59],"were":[60],"first":[61],"introduced":[62],"in":[63,74,112],"context":[65],"movement":[67],"neuroscience":[68],"studying":[70],"targeting":[72],"problem":[73],"reaching":[75],"movements.":[76],"Based":[77],"on":[78],"underlying":[80],"properties":[81],"TA,":[83],"extend":[85],"PIK":[86],"methods":[87],"achieving":[89],"desired":[90],"time":[91],"convergence":[92],"task":[95],"while":[96],"guaranteeing":[97],"smooth":[98],"transitions":[99],"between":[100],"active":[101],"and":[102,118],"inactive":[103],"during":[105],"execution.":[106],"The":[107],"proposed":[108],"illustrated":[111],"simulation":[113],"with":[114,120],"branched":[115],"manipulators":[117],"verified":[119],"real":[122],"arm.":[125]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
