{"id":"https://openalex.org/W4200561776","doi":"https://doi.org/10.1109/iros51168.2021.9636867","title":"Computationally Efficient HQP-based Whole-body Control Exploiting the Operational-space Formulation","display_name":"Computationally Efficient HQP-based Whole-body Control Exploiting the Operational-space Formulation","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200561776","doi":"https://doi.org/10.1109/iros51168.2021.9636867"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636867","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636867","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5069100903","display_name":"Yisoo Lee","orcid":"https://orcid.org/0000-0001-8135-4094"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yisoo Lee","raw_affiliation_strings":["Center for Intelligent and Interactive Robotics, Korea Institute of Science and Technology (KIST), Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Intelligent and Interactive Robotics, Korea Institute of Science and Technology (KIST), Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078398482","display_name":"Junewhee Ahn","orcid":"https://orcid.org/0000-0003-3454-1940"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Junewhee Ahn","raw_affiliation_strings":["Graduate School of Convergence Science and Technology, Seoul National University (SNU), Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Convergence Science and Technology, Seoul National University (SNU), Seoul, Republic of Korea","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017250304","display_name":"Jinoh Lee","orcid":"https://orcid.org/0000-0002-4901-7095"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jinoh Lee","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), We\u00dfling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), We\u00dfling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031070386","display_name":"Jaeheung Park","orcid":"https://orcid.org/0000-0002-5062-8264"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jaeheung Park","raw_affiliation_strings":["Graduate School of Convergence Science and Technology, Seoul National University (SNU), Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Convergence Science and Technology, Seoul National University (SNU), Seoul, Republic of Korea","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5197","last_page":"5202"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9842000007629395,"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/T11457","display_name":"Adipose Tissue and Metabolism","score":0.9656999707221985,"subfield":{"id":"https://openalex.org/subfields/2737","display_name":"Physiology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7571168541908264},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6542885899543762},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6469609141349792},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.529392659664154},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5291640758514404},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.49788594245910645},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.44771164655685425},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4262973368167877},{"id":"https://openalex.org/keywords/sequential-quadratic-programming","display_name":"Sequential quadratic programming","score":0.4169183671474457},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2533649504184723},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17831698060035706},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1550668478012085}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7571168541908264},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6542885899543762},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6469609141349792},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.529392659664154},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5291640758514404},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.49788594245910645},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.44771164655685425},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4262973368167877},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.4169183671474457},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2533649504184723},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17831698060035706},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1550668478012085},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","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/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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros51168.2021.9636867","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636867","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:147149","is_oa":false,"landing_page_url":"https://doi.org/10.1109/IROS51168.2021.9636867>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Konferenzbeitrag"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7900000214576721}],"awards":[{"id":"https://openalex.org/G2141362931","display_name":null,"funder_award_id":"2021R1A2C3005914","funder_id":"https://openalex.org/F4320320671","funder_display_name":"National Research Foundation"},{"id":"https://openalex.org/G2987133428","display_name":null,"funder_award_id":"2021R1A2C3005914","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"},{"id":"https://openalex.org/G4850456717","display_name":null,"funder_award_id":"2E31063","funder_id":"https://openalex.org/F4320322091","funder_display_name":"Korea Institute of Science and Technology"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320321408","display_name":"Ministry of Education","ror":"https://ror.org/01p262204"},{"id":"https://openalex.org/F4320322091","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W48695713","https://openalex.org/W1499277207","https://openalex.org/W1525662195","https://openalex.org/W1661823234","https://openalex.org/W1964965610","https://openalex.org/W2019606703","https://openalex.org/W2086009575","https://openalex.org/W2108486887","https://openalex.org/W2119088038","https://openalex.org/W2124538551","https://openalex.org/W2132089714","https://openalex.org/W2144351850","https://openalex.org/W2154395924","https://openalex.org/W2154847670","https://openalex.org/W2547678094","https://openalex.org/W3011337332","https://openalex.org/W3102051120","https://openalex.org/W3134256416","https://openalex.org/W3182479899"],"related_works":["https://openalex.org/W2019128690","https://openalex.org/W4206223795","https://openalex.org/W2092346180","https://openalex.org/W2167631998","https://openalex.org/W2589412911","https://openalex.org/W2183453826","https://openalex.org/W2053979626","https://openalex.org/W1999891226","https://openalex.org/W2808466644","https://openalex.org/W2370949144"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,63],"novel":[4],"and":[5,99,115,154],"practical":[6],"approach":[7],"to":[8,26,50],"enhance":[9],"the":[10,14,44,78,85,89,96,121,127,134],"computational":[11],"efficiency":[12],"of":[13,46,126],"hierarchical":[15,57],"quadratic":[16],"programming":[17],"(HQP)-based":[18],"whole-body":[19,107],"control.":[20],"The":[21,124],"HQP":[22,86,153],"method":[23,129],"is":[24,82,130,147],"known":[25],"offer":[27],"control":[28,65,108],"solutions":[29],"satisfying":[30],"strict":[31],"priority":[32],"with":[33,67,140,151],"various":[34],"constraints":[35,117],"for":[36,110],"multiple-tasks":[37],"execution.":[38],"However,":[39],"it":[40,104],"inherently":[41],"comes":[42],"at":[43,95],"price":[45],"high":[47],"computation":[48,145],"time":[49,146],"solve":[51],"QP":[52],"optimization":[53],"problems":[54],"in":[55,62],"each":[56],"level":[58,98],"which":[59],"limits":[60],"practicability":[61],"real-time":[64],"system":[66],"fast":[68],"sampling":[69],"time.":[70],"To":[71],"mitigate":[72],"this":[73],"issue,":[74],"we":[75],"propose":[76],"that":[77],"operational":[79],"space":[80],"formulation":[81],"incorporated":[83],"into":[84],"method,":[87],"where":[88],"decision":[90],"variables":[91],"are":[92],"intuitively":[93],"defined":[94],"task":[97,122],"possess":[100],"smaller":[101],"dimensions.":[102],"Indeed,":[103],"serves":[105],"faster":[106],"solution":[109],"multiple":[111],"tasks":[112],"under":[113],"equality":[114],"inequality":[116],"yet":[118],"strictly":[119],"fulfilling":[120],"priority.":[123],"performance":[125],"pro-posed":[128],"experimentally":[131],"verified":[132],"on":[133],"actual":[135],"floating-based":[136],"humanoid,":[137],"named":[138],"TOCABI":[139],"33":[141],"degrees-of-freedom.":[142],"In":[143],"addition,":[144],"analyzed":[148],"by":[149],"comparison":[150],"conventional":[152],"other":[155],"advanced":[156],"implementation":[157],"forms.":[158]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}