{"id":"https://openalex.org/W2142964003","doi":"https://doi.org/10.1109/robot.2010.5509152","title":"From motion planning to trajectory control with bounded jerk for service manipulator robots","display_name":"From motion planning to trajectory control with bounded jerk for service manipulator robots","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2142964003","doi":"https://doi.org/10.1109/robot.2010.5509152","mag":"2142964003"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509152","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509152","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","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/A5008696987","display_name":"Xavier Broqu\u00e8re","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Xavier Broque\u0300re","raw_affiliation_strings":["The Robotics and Interactive System Group at CNRS, LAAS, Toulouse, France","UPS, INSA, INP, ISAE, LAAS, University of Toulouse III, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics and Interactive System Group at CNRS, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"UPS, INSA, INP, ISAE, LAAS, University of Toulouse III, Toulouse, France","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027759574","display_name":"Daniel Sidobre","orcid":"https://orcid.org/0000-0002-5564-2735"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Daniel Sidobre","raw_affiliation_strings":["The Robotics and Interactive System Group at CNRS, LAAS, Toulouse, France","UPS, INSA, INP, ISAE, LAAS, University of Toulouse III, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics and Interactive System Group at CNRS, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"UPS, INSA, INP, ISAE, LAAS, University of Toulouse III, Toulouse, France","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I190497903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100827483","display_name":"Khoi Nguyen","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Khoi Nguyen","raw_affiliation_strings":["The Robotics and Interactive System Group at CNRS, LAAS, Toulouse, France","UPS, INSA, INP, ISAE, LAAS, University of Toulouse III, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics and Interactive System Group at CNRS, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"UPS, INSA, INP, ISAE, LAAS, University of Toulouse III, Toulouse, France","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.021,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.97211446,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4505","last_page":"4510"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10571","display_name":"Robotic Mechanisms and Dynamics","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":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","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/jerk","display_name":"Jerk","score":0.8961724638938904},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.735325813293457},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7193295359611511},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6554023623466492},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6143472194671631},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.582014799118042},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5685973167419434},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.46009865403175354},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.45264673233032227},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.44810619950294495},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4122503101825714},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32766830921173096},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2735234200954437},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26689156889915466},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2579724192619324},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21839448809623718},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.0723889172077179},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07142484188079834},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.06047147512435913}],"concepts":[{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.8961724638938904},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.735325813293457},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7193295359611511},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6554023623466492},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6143472194671631},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.582014799118042},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5685973167419434},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.46009865403175354},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.45264673233032227},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.44810619950294495},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4122503101825714},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32766830921173096},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2735234200954437},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26689156889915466},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2579724192619324},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21839448809623718},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0723889172077179},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07142484188079834},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.06047147512435913},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2010.5509152","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509152","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.4399999976158142,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W599905680","https://openalex.org/W1559380528","https://openalex.org/W1972214737","https://openalex.org/W2024145790","https://openalex.org/W2030044507","https://openalex.org/W2038662471","https://openalex.org/W2038840901","https://openalex.org/W2088792975","https://openalex.org/W2097798302","https://openalex.org/W2122761880","https://openalex.org/W2125427037","https://openalex.org/W2169983797","https://openalex.org/W2171151351","https://openalex.org/W2187258392","https://openalex.org/W2225813005","https://openalex.org/W6618191254","https://openalex.org/W6686518021"],"related_works":["https://openalex.org/W2376623953","https://openalex.org/W2352897580","https://openalex.org/W2118664347","https://openalex.org/W2348411017","https://openalex.org/W3049304016","https://openalex.org/W1977630140","https://openalex.org/W2039317814","https://openalex.org/W2019544916","https://openalex.org/W2585395848","https://openalex.org/W2568861134"],"abstract_inverted_index":{"To":[0],"build":[1,106],"autonomous":[2],"robots":[3,82],"capable":[4],"to":[5,23,33,40,55,75],"plan":[6,56],"and":[7,48,58,79,98],"control":[8],"tasks":[9],"in":[10,64,101],"human":[11],"environments,":[12],"we":[13,31],"need":[14],"a":[15,72,91,102],"description":[16],"of":[17,36,61,67,85],"trajectories":[18,43],"that":[19],"allows":[20],"the":[21,42,62,65,86],"robot":[22,63],"reason":[24],"on":[25],"his":[26],"moves.":[27],"In":[28],"this":[29],"paper":[30],"propose":[32],"use":[34],"series":[35],"cubic":[37],"polynomial":[38],"curves":[39,89],"define":[41],"with":[44],"bounded":[45],"jerk,":[46],"acceleration":[47],"velocity.":[49],"This":[50],"solution":[51,74],"is":[52,70],"well":[53],"adapted":[54],"safe":[57],"acceptable":[59],"moves":[60],"vicinity":[66],"humans.":[68],"It":[69],"also":[71],"simple":[73,92],"approximate":[76],"any":[77],"trajectory":[78],"synchronize":[80],"different":[81],"or":[83],"element":[84],"robots.":[87],"These":[88],"have":[90],"representation,":[93],"can":[94,105],"be":[95],"computed":[96],"quickly":[97],"when":[99],"used":[100],"fitting":[103],"algorithm":[104],"controller.":[107]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
