{"id":"https://openalex.org/W2989749592","doi":"https://doi.org/10.1142/s0219843619500373","title":"Constrained Manipulability for Humanoid Robots Using Velocity Polytopes","display_name":"Constrained Manipulability for Humanoid Robots Using Velocity Polytopes","publication_year":2019,"publication_date":"2019-11-22","ids":{"openalex":"https://openalex.org/W2989749592","doi":"https://doi.org/10.1142/s0219843619500373","mag":"2989749592"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843619500373","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843619500373","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","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/A5032514931","display_name":"Philip Long","orcid":"https://orcid.org/0000-0002-0784-8720"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Philip Long","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Northeastern University, Boston, Massachusetts 02115, USA"],"raw_orcid":"https://orcid.org/0000-0002-0784-8720","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Northeastern University, Boston, Massachusetts 02115, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009032681","display_name":"Ta\u015fk\u0131n Pad\u0131r","orcid":"https://orcid.org/0000-0001-5123-5801"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ta\u015fk\u0131n Pad\u0131r","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Northeastern University, Boston, Massachusetts 02115, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Northeastern University, Boston, Massachusetts 02115, USA","institution_ids":["https://openalex.org/I12912129"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I12912129"],"apc_list":null,"apc_paid":null,"fwci":1.3138,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.813654,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"17","issue":"01","first_page":"1950037","last_page":"1950037"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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":0.9995999932289124,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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/workspace","display_name":"Workspace","score":0.9147063493728638},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8021655082702637},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.745280385017395},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7332422137260437},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5759215950965881},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.5517395734786987},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.505455732345581},{"id":"https://openalex.org/keywords/polytope","display_name":"Polytope","score":0.4403310716152191},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4295569658279419},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39897963404655457},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35092759132385254},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3252100944519043},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08686846494674683}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9147063493728638},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8021655082702637},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.745280385017395},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7332422137260437},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5759215950965881},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.5517395734786987},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.505455732345581},{"id":"https://openalex.org/C145691206","wikidata":"https://www.wikidata.org/wiki/Q747980","display_name":"Polytope","level":2,"score":0.4403310716152191},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4295569658279419},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39897963404655457},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35092759132385254},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3252100944519043},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08686846494674683},{"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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","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/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843619500373","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843619500373","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G133194684","display_name":null,"funder_award_id":"1451427","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"},{"id":"https://openalex.org/G5916948478","display_name":null,"funder_award_id":"DE-EM0004482","funder_id":"https://openalex.org/F4320306084","funder_display_name":"U.S. Department of Energy"}],"funders":[{"id":"https://openalex.org/F4320306084","display_name":"U.S. Department of Energy","ror":"https://ror.org/01bj3aw27"},{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W336987605","https://openalex.org/W1524886571","https://openalex.org/W1526262508","https://openalex.org/W1576699240","https://openalex.org/W1980232872","https://openalex.org/W1982023924","https://openalex.org/W2023890097","https://openalex.org/W2030929340","https://openalex.org/W2037729465","https://openalex.org/W2069389650","https://openalex.org/W2094954979","https://openalex.org/W2096994759","https://openalex.org/W2111312451","https://openalex.org/W2136932470","https://openalex.org/W2137614501","https://openalex.org/W2153628631","https://openalex.org/W2157476440","https://openalex.org/W2160487166","https://openalex.org/W2294389641","https://openalex.org/W2312944851","https://openalex.org/W2511784920","https://openalex.org/W2564178275","https://openalex.org/W2570781554","https://openalex.org/W2613202589","https://openalex.org/W2613718599","https://openalex.org/W2732637790","https://openalex.org/W2802527624","https://openalex.org/W2912685007","https://openalex.org/W2967293491","https://openalex.org/W3180482864"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2326117494","https://openalex.org/W2102645302","https://openalex.org/W1661511822"],"abstract_inverted_index":{"Robot":[0],"performance":[1,96],"measures":[2,17],"are":[3,33],"important":[4],"tools":[5],"for":[6,140,152],"quantifying":[7],"the":[8,19,38,45,58,65,78,90,116,121,125,128,131,147,159,166],"ability":[9],"to":[10,25,108,124,164],"carry":[11],"out":[12],"manipulation":[13,156],"tasks.":[14],"Generally,":[15],"these":[16],"examine":[18],"system\u2019s":[20,66],"kinematic":[21,67],"transformations":[22],"from":[23],"configuration":[24],"task":[26],"space.":[27],"This":[28],"means":[29],"that":[30,63],"environmental":[31],"constraints":[32],"neglected":[34],"in":[35,97,136],"spite":[36],"of":[37,80,120,127],"significant":[39],"effects":[40],"they":[41],"may":[42],"have":[43],"on":[44],"robot\u2019s":[46,95,167],"admissible":[47],"motions.":[48],"In":[49],"this":[50,103],"paper,":[51],"we":[52,87,114],"propose":[53],"a":[54,94,98,110,150],"new":[55],"measure":[56,151],"called":[57],"constrained":[59],"manipulability":[60],"polytope":[61],"(CMP)":[62],"considers":[64],"structure,":[68],"including":[69],"closed":[70],"chains":[71],"or":[72],"composite":[73],"sub-mechanisms,":[74],"joint":[75],"limits":[76],"and":[77,101,118,138,154,161],"presence":[79],"obstacles.":[81],"For":[82],"an":[83],"illustrative":[84],"planar":[85],"case,":[86],"demonstrate":[88],"how":[89,102,146],"CMP":[91,122,148],"can":[92,105],"evaluate":[93],"cluttered":[99],"scene":[100],"evaluation":[104],"be":[106,162],"extrapolated":[107],"obtain":[109],"workspace":[111,160],"visualization.":[112],"Additionally,":[113],"show":[115,145],"advantages":[117],"limitations":[119],"compared":[123],"state":[126],"art.":[129],"Furthermore,":[130],"method":[132],"is":[133],"demonstrated":[134],"both":[135],"simulation":[137],"experimentally":[139],"NASA\u2019s":[141],"Valkyrie":[142],"robot.":[143],"We":[144],"provides":[149],"single-arm":[153],"dual-arm":[155],"tasks,":[157],"analyze":[158],"used":[163],"optimize":[165],"posture.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}