{"id":"https://openalex.org/W2248968608","doi":"https://doi.org/10.1109/lra.2015.2506259","title":"Parsimonious Kinematic Control of Highly Redundant Robots","display_name":"Parsimonious Kinematic Control of Highly Redundant Robots","publication_year":2015,"publication_date":"2015-12-08","ids":{"openalex":"https://openalex.org/W2248968608","doi":"https://doi.org/10.1109/lra.2015.2506259","mag":"2248968608"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2015.2506259","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2015.2506259","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5058748885","display_name":"Vin\u00edcius Mariano Gon\u00e7alves","orcid":"https://orcid.org/0000-0002-9730-6190"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Vinicius Mariano Goncalves","raw_affiliation_strings":["Electrical Engineering Department, Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070253135","display_name":"Philippe Fraisse","orcid":"https://orcid.org/0000-0003-0911-0743"},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Fraisse","raw_affiliation_strings":["Laboratoire d\u2019Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier (LIRMM), Montpellier, France","Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier (LIRMM), Montpellier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire d\u2019Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier (LIRMM), Montpellier, France","institution_ids":["https://openalex.org/I4210101743"]},{"raw_affiliation_string":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier (LIRMM), Montpellier, France","institution_ids":["https://openalex.org/I4210101743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043284120","display_name":"Andr\u00e9 Crosnier","orcid":"https://orcid.org/0000-0001-7632-0922"},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Andre Crosnier","raw_affiliation_strings":["Laboratoire d\u2019Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier (LIRMM), Montpellier, France","Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier (LIRMM), Montpellier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire d\u2019Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier (LIRMM), Montpellier, France","institution_ids":["https://openalex.org/I4210101743"]},{"raw_affiliation_string":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier (LIRMM), Montpellier, France","institution_ids":["https://openalex.org/I4210101743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023189266","display_name":"Bruno Vilhena Adorno","orcid":"https://orcid.org/0000-0002-5080-8724"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Bruno Vilhena Adorno","raw_affiliation_strings":["Electrical Engineering Department, Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, Brazil","institution_ids":["https://openalex.org/I110200422"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.3858,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.89905153,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"1","issue":"1","first_page":"65","last_page":"72"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9984999895095825,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8002262115478516},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6223058104515076},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4645284116268158},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44664132595062256},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29204270243644714},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08613455295562744},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.04164385795593262}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8002262115478516},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6223058104515076},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4645284116268158},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44664132595062256},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29204270243644714},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08613455295562744},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.04164385795593262}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2015.2506259","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2015.2506259","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/b1b94850-5e13-44f3-84d2-bee114c177a8","is_oa":false,"landing_page_url":"https://research.manchester.ac.uk/en/publications/b1b94850-5e13-44f3-84d2-bee114c177a8","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Goncalves, V M, Fraisse, P, Crosnier, A & Adorno, B V 2015, 'Parsimonious Kinematic Control of Highly Redundant Robots', IEEE Robotics and Automation Letters, vol. 1, no. 1, pp. 65-72. https://doi.org/10.1109/LRA.2015.2506259","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:HAL:lirmm-01198399v1","is_oa":false,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-01198399","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2016, 1 (1), pp.65-72. ⟨10.1109/LRA.2015.2506259⟩","raw_type":"Journal articles"},{"id":"pmh:oai:pure.atira.dk:publications/b1b94850-5e13-44f3-84d2-bee114c177a8","is_oa":false,"landing_page_url":"https://www.research.manchester.ac.uk/portal/en/publications/parsimonious-kinematic-control-of-highly-redundant-robots(b1b94850-5e13-44f3-84d2-bee114c177a8).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Goncalves, V M, Fraisse, P, Crosnier, A & Adorno, B V 2015, 'Parsimonious Kinematic Control of Highly Redundant Robots', IEEE Robotics and Automation Letters, vol. 1, no. 1, pp. 65-72. https://doi.org/10.1109/LRA.2015.2506259","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth","score":0.49000000953674316}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321091","display_name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","ror":"https://ror.org/00x0ma614"},{"id":"https://openalex.org/F4320322025","display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","ror":"https://ror.org/03swz6y49"},{"id":"https://openalex.org/F4320322980","display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de Minas Gerais","ror":"https://ror.org/00nc55f03"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W239163183","https://openalex.org/W1491720843","https://openalex.org/W1559749952","https://openalex.org/W1608101987","https://openalex.org/W1866905757","https://openalex.org/W1964858953","https://openalex.org/W1964965610","https://openalex.org/W1965972569","https://openalex.org/W1970760696","https://openalex.org/W1971828369","https://openalex.org/W1985520732","https://openalex.org/W1993541808","https://openalex.org/W1995484833","https://openalex.org/W2008772536","https://openalex.org/W2019606703","https://openalex.org/W2043855991","https://openalex.org/W2049617391","https://openalex.org/W2061360434","https://openalex.org/W2072763216","https://openalex.org/W2082198299","https://openalex.org/W2109814287","https://openalex.org/W2113260111","https://openalex.org/W2132130138","https://openalex.org/W2140663815","https://openalex.org/W2141450827","https://openalex.org/W2154847670","https://openalex.org/W2296616510","https://openalex.org/W2296653574","https://openalex.org/W2544014869","https://openalex.org/W3088063282","https://openalex.org/W3141966576","https://openalex.org/W4206820429","https://openalex.org/W4214942353","https://openalex.org/W4250955649","https://openalex.org/W6728742308","https://openalex.org/W7067021623","https://openalex.org/W7075363699"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","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"],"abstract_inverted_index":{"When":[0],"a":[1,50,61,75,92,97],"robot":[2],"is":[3,94],"highly":[4],"redundant":[5],"in":[6,20,67],"comparison":[7,93],"to":[8,11,34,74],"the":[9,21,28,32,87,102,105,110,118],"task":[10,106],"be":[12,39],"executed,":[13],"current":[14],"control":[15,52,63],"techniques":[16],"are":[17],"not":[18],"\u201ceconomic\u201d":[19],"sense":[22],"that":[23,58,109],"they":[24],"demand,":[25],"most":[26],"of":[27,104],"time":[29],"unnecessarily,":[30],"all":[31],"joints":[33,70,116],"move.":[35,71],"Such":[36],"behavior":[37],"can":[38],"undesirable":[40],"for":[41],"some":[42],"applications.":[43],"In":[44,72],"this":[45,47,79],"direction,":[46],"work":[48],"proposes":[49],"new":[51],"paradigm":[53],"based":[54,100],"on":[55,86,101],"linear":[56],"programming":[57],"intrinsically":[59],"provides":[60],"parsimonious":[62],"strategy,":[64],"i.e,":[65],"one":[66],"which":[68],"few":[69],"addition":[73],"formal":[76],"stability":[77],"proof,":[78],"letter":[80],"presents":[81],"simulation":[82],"and":[83],"experimental":[84],"results":[85],"HOAP-3":[88],"humanoid":[89],"robot.":[90],"Finally,":[91],"made":[95],"with":[96],"least-square":[98],"method":[99,112],"pseudoinverse":[103],"Jacobian,":[107],"showing":[108],"proposed":[111],"indeed":[113],"uses":[114],"fewer":[115],"than":[117],"classic":[119],"one.":[120]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}