{"id":"https://openalex.org/W2037686194","doi":"https://doi.org/10.1109/robio.2011.6181279","title":"Smooth transition between tasks on a kinematic control level: Application to self collision avoidance for two Kuka LWR robots","display_name":"Smooth transition between tasks on a kinematic control level: Application to self collision avoidance for two Kuka LWR robots","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2037686194","doi":"https://doi.org/10.1109/robio.2011.6181279","mag":"2037686194"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181279","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181279","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","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/A5006256668","display_name":"Tadej Petri\u010d","orcid":"https://orcid.org/0000-0002-3407-4206"},"institutions":[{"id":"https://openalex.org/I3006985408","display_name":"Jo\u017eef Stefan Institute","ror":"https://ror.org/05060sz93","country_code":"SI","type":"facility","lineage":["https://openalex.org/I3006985408"]}],"countries":["SI"],"is_corresponding":true,"raw_author_name":"Tadej Petric","raw_affiliation_strings":["Department for automation, biocybernetics and robotics, Jozef Stefan Institute, Ljubljana, Slovenia","Department for Automation, Biocybernetics and Robotics, Jozef Stefan Institute, 1000 Ljubljana, Slovenia"],"affiliations":[{"raw_affiliation_string":"Department for automation, biocybernetics and robotics, Jozef Stefan Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]},{"raw_affiliation_string":"Department for Automation, Biocybernetics and Robotics, Jozef Stefan Institute, 1000 Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062518437","display_name":"Leon \u017dlajpah","orcid":"https://orcid.org/0000-0002-2820-2697"},"institutions":[{"id":"https://openalex.org/I3006985408","display_name":"Jo\u017eef Stefan Institute","ror":"https://ror.org/05060sz93","country_code":"SI","type":"facility","lineage":["https://openalex.org/I3006985408"]}],"countries":["SI"],"is_corresponding":false,"raw_author_name":"Leon Zlajpah","raw_affiliation_strings":["Department for automation, biocybernetics and robotics, Jozef Stefan Institute, Ljubljana, Slovenia","Department for Automation, Biocybernetics and Robotics, Jozef Stefan Institute, 1000 Ljubljana, Slovenia"],"affiliations":[{"raw_affiliation_string":"Department for automation, biocybernetics and robotics, Jozef Stefan Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]},{"raw_affiliation_string":"Department for Automation, Biocybernetics and Robotics, Jozef Stefan Institute, 1000 Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5006256668"],"corresponding_institution_ids":["https://openalex.org/I3006985408"],"apc_list":null,"apc_paid":null,"fwci":3.2625,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.92181142,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"162","last_page":"167"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9990000128746033,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9983000159263611,"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/robot","display_name":"Robot","score":0.748582124710083},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7386132478713989},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.728402853012085},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.661677360534668},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5356729626655579},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5160996317863464},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4911355674266815},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.48830103874206543},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4261273145675659},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4161532521247864},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38385510444641113},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37940219044685364},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3222472667694092},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.28226709365844727},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2619519829750061}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.748582124710083},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7386132478713989},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.728402853012085},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.661677360534668},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5356729626655579},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5160996317863464},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4911355674266815},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.48830103874206543},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4261273145675659},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4161532521247864},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38385510444641113},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37940219044685364},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3222472667694092},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28226709365844727},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2619519829750061},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2011.6181279","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181279","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","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":16,"referenced_works":["https://openalex.org/W1982442957","https://openalex.org/W1994875265","https://openalex.org/W2032381729","https://openalex.org/W2039367169","https://openalex.org/W2103120971","https://openalex.org/W2112474089","https://openalex.org/W2113698995","https://openalex.org/W2130068673","https://openalex.org/W2131232094","https://openalex.org/W2133706426","https://openalex.org/W2149192758","https://openalex.org/W2153577013","https://openalex.org/W2158778644","https://openalex.org/W2168105527","https://openalex.org/W2323447981","https://openalex.org/W6682150299"],"related_works":["https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W2972304526","https://openalex.org/W2101598871","https://openalex.org/W2109003837","https://openalex.org/W2119963650","https://openalex.org/W4312096302","https://openalex.org/W2005471069"],"abstract_inverted_index":{"A":[0],"common":[1],"approach":[2],"for":[3,50,84],"kinematically":[4,53],"redundant":[5,54,90],"robot":[6],"consist":[7],"of":[8,11,52,88,95],"a":[9,47,60,76,89,102],"definition":[10],"several":[12],"tasks":[13],"properly":[14],"combined":[15],"in":[16,19,29],"priority.":[17],"However,":[18],"some":[20],"cases":[21],"the":[22,34,39,65,68,96],"task":[23,36],"priority":[24],"needs":[25],"to":[26,31],"be":[27],"changed":[28],"order":[30],"successfully":[32],"perform":[33],"desired":[35],"without":[37],"changing":[38],"initial":[40],"strategy.":[41],"In":[42],"this":[43],"paper":[44],"we":[45,57],"propose":[46],"novel":[48],"method":[49,72],"control":[51,79],"robots,":[55],"where":[56],"focus":[58],"on":[59,75,101],"smooth,":[61],"continuous":[62],"transition":[63],"between":[64],"primary":[66],"and":[67],"secondary":[69],"task.":[70],"The":[71,93],"is":[73,82,99],"based":[74],"null-space":[77],"velocity":[78],"algorithm,":[80],"which":[81],"essential":[83],"achieving":[85],"good":[86],"behaviour":[87],"robotic":[91,103],"system.":[92],"effectiveness":[94],"proposed":[97],"system":[98,104],"demonstrated":[100],"with":[105],"two":[106],"Kuka":[107],"LWR":[108],"robots.":[109]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
