{"id":"https://openalex.org/W2783820429","doi":"https://doi.org/10.1109/lra.2018.2792154","title":"The Hierarchical Operational Space Formulation: Stability Analysis for the Regulation Case","display_name":"The Hierarchical Operational Space Formulation: Stability Analysis for the Regulation Case","publication_year":2018,"publication_date":"2018-01-11","ids":{"openalex":"https://openalex.org/W2783820429","doi":"https://doi.org/10.1109/lra.2018.2792154","mag":"2783820429"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2792154","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2792154","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/A5014764259","display_name":"Alexander Dietrich","orcid":"https://orcid.org/0000-0003-3463-5074"},"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":true,"raw_author_name":"Alexander Dietrich","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany"],"raw_orcid":"https://orcid.org/0000-0003-3463-5074","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048539897","display_name":"Christian Ott","orcid":"https://orcid.org/0000-0003-0987-7493"},"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":"Christian Ott","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany"],"raw_orcid":"https://orcid.org/0000-0003-0987-7493","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, 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":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaeheung Park","raw_affiliation_strings":["Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-5062-8264","affiliations":[{"raw_affiliation_string":"Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5014764259"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":4.8686,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.95527657,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"3","issue":"2","first_page":"1120","last_page":"1127"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9952999949455261,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9952999949455261,"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":0.994700014591217,"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":0.9887999892234802,"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/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.676723837852478},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6023946404457092},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.566591203212738},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5392938852310181},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5342518091201782},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5133875608444214},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4695359468460083},{"id":"https://openalex.org/keywords/hierarchy","display_name":"Hierarchy","score":0.45870861411094666},{"id":"https://openalex.org/keywords/null","display_name":"Null (SQL)","score":0.4523613452911377},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4490460157394409},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.4455625116825104},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.384602427482605},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30950862169265747},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2904813885688782},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16480612754821777},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.16343796253204346},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.09897959232330322},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.08948439359664917},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08347386121749878}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.676723837852478},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6023946404457092},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.566591203212738},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5392938852310181},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5342518091201782},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5133875608444214},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4695359468460083},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.45870861411094666},{"id":"https://openalex.org/C203763787","wikidata":"https://www.wikidata.org/wiki/Q371029","display_name":"Null (SQL)","level":2,"score":0.4523613452911377},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4490460157394409},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.4455625116825104},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.384602427482605},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30950862169265747},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2904813885688782},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16480612754821777},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.16343796253204346},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.09897959232330322},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.08948439359664917},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08347386121749878},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"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/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/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2018.2792154","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2792154","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:elib.dlr.de:118982","is_oa":false,"landing_page_url":"https://doi.org/10.1109/LRA.2018.2792154>.","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":"PeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.8299999833106995,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1498151138","https://openalex.org/W1548148540","https://openalex.org/W1581095231","https://openalex.org/W1911555007","https://openalex.org/W1968189907","https://openalex.org/W1976030291","https://openalex.org/W1986152369","https://openalex.org/W1993999483","https://openalex.org/W2002529332","https://openalex.org/W2019606703","https://openalex.org/W2030230337","https://openalex.org/W2032381729","https://openalex.org/W2042803738","https://openalex.org/W2046059280","https://openalex.org/W2054577881","https://openalex.org/W2058334894","https://openalex.org/W2061350632","https://openalex.org/W2065548345","https://openalex.org/W2066379939","https://openalex.org/W2072763216","https://openalex.org/W2100476631","https://openalex.org/W2110612452","https://openalex.org/W2112474089","https://openalex.org/W2128543011","https://openalex.org/W2128848325","https://openalex.org/W2145851384","https://openalex.org/W2146902249","https://openalex.org/W2154847670","https://openalex.org/W2164032318","https://openalex.org/W2169564405","https://openalex.org/W2286050535","https://openalex.org/W2564990207","https://openalex.org/W2997798509","https://openalex.org/W4214690803","https://openalex.org/W4243820192"],"related_works":["https://openalex.org/W2007405763","https://openalex.org/W3136087161","https://openalex.org/W1486373823","https://openalex.org/W2119578520","https://openalex.org/W2053762185","https://openalex.org/W2913611334","https://openalex.org/W2164703465","https://openalex.org/W2168383058","https://openalex.org/W2143247663","https://openalex.org/W2050693590"],"abstract_inverted_index":{"The":[0],"Operational":[1],"Space":[2],"Formulation":[3],"(OSF)":[4],"from":[5],"the":[6,10,25,33,43,49,65,73,82,91,102,118,138,143,149],"1980s":[7],"is":[8,30,77,98],"probably":[9],"most":[11],"frequently":[12],"applied":[13],"task-space":[14],"controller":[15,125],"in":[16,42,64],"robotics.":[17],"In":[18],"multipriority":[19],"control":[20],"of":[21,48,52,114,121,128,142],"redundant":[22],"robots":[23],"via":[24],"OSF,":[26],"a":[27,68,95,122,154],"feedback":[28],"linearization":[29],"performed":[31],"on":[32,90],"first":[34],"hierarchy":[35],"level":[36],"while":[37],"lower-priority":[38],"tasks":[39,55,103],"are":[40],"executed":[41],"dynamically":[44],"consistent":[45],"null":[46,83],"space":[47,84],"Jacobian":[50],"matrices":[51],"all":[53],"higher-priority":[54],"without":[56],"disturbing":[57],"them.":[58],"However,":[59],"it":[60],"has":[61],"been":[62],"observed":[63],"past":[66],"that":[67],"formal":[69,112],"stability":[70,89,116,130,146],"analysis":[71,147],"for":[72,81,87,117],"overall":[74],"closed":[75],"loop":[76],"rather":[78],"difficult,":[79],"especially":[80],"dynamics.":[85],"Except":[86],"exponential":[88],"main":[92],"task":[93],"level,":[94],"complete":[96],"proof":[97,113],"still":[99],"missing":[100],"when":[101],"conflict":[104],"with":[105],"each":[106],"other.":[107],"Here,":[108],"we":[109],"provide":[110],"this":[111],"asymptotic":[115],"regulation":[119],"case":[120],"passivity-based":[123],"OSF":[124,152],"by":[126],"means":[127],"conditional":[129],"theory":[131],"and":[132],"semidefinite":[133],"Lyapunov":[134],"functions.":[135],"Simulations":[136],"support":[137],"intuitive,":[139],"energy-based":[140],"interpretation":[141],"proof.":[144],"This":[145],"lifts":[148],"widely":[150],"used":[151],"onto":[153],"more":[155],"solid":[156],"foundation.":[157]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}