Concepedia

Operational Space Formulation

Operational Space Formulation is a control-theoretic framework in robotics that enables the formulation of dynamic equations and control laws directly in the task space by mapping joint-space inertial properties to the operational space, thereby allowing motion and force control to be expressed in terms of end-effector variables rather than joint variables.

158

Publications

12.8K

Citations

444

Authors

187

Institutions

Publications per year

2017–2026

41

Parents

Publications

158

A unified approach for motion and force control of robot manipulators: The operational space formulation

Oussama Khatib · IEEE Journal on Robotics and Automation · 1987 · 2.9K citations

, , +17

Defining and developing measures of lean production

Rachna Shah, Peter T. Ward · Journal of Operations Management · 2007 · 2.3K citations

, , +13

Inertial Properties in Robotic Manipulation: An Object-Level Framework

Oussama Khatib · The International Journal of Robotics Research · 1995 · 537 citations

, , +17

Motion and force control of robot manipulators

Oussama Khatib, Joel W. Burdick · 1986 · 298 citations

, , +17

WHOLE-BODY DYNAMIC BEHAVIOR AND CONTROL OF HUMAN-LIKE ROBOTS

Oussama Khatib, Luis Sentis, Jun-Won Park et al. · International Journal of Humanoid Robotics · 2004 · 289 citations

, , +17

1–5 of 158

Authors

444

  1. OK
    Oussama Khatib

    Stanford University, United States

    23 publications · 5.5K citations

    19

    h-index

  2. AM
    A. Murari

    National Agency for New Technologies, Energy and Sustainable Economic Development, Italy

    5 publications · 197 citations

    5

    h-index

  3. JP
    Jan Peters

    Technische Universität Darmstadt, Germany

    5 publications · 262 citations

    5

    h-index

  4. KY
    Kazuhito Yokoi

    National Institute of Advanced Industrial Science and Technology, Japan

    5 publications · 448 citations

    5

    h-index

  5. JP
    Jaeheung Park

    Advanced Institute of Convergence Technology, South Korea

    5 publications · 273 citations

    5

    h-index

1–5 of 444

Institutions

187

  1. Stanford University

    Stanford, United States

    17 h-index

    38 publications

    8K citations

  2. Centre National de la Recherche Scientifique

    Paris, France

    8 h-index

    18 publications

    828 citations

  3. University of Southern California

    Los Angeles, United States

    7 h-index

    11 publications

    678 citations

  4. Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)

    Cologne, Germany

    6 h-index

    16 publications

    1.3K citations

  5. National Agency for New Technologies, Energy and Sustainable Economic Development

    Rome, Italy

    6 h-index

    10 publications

    504 citations

  6. Hanyang University

    Seoul, South Korea

    6 h-index

    17 publications

    364 citations

  7. Italian Institute of Technology

    Genoa, Italy

    5 h-index

    7 publications

    450 citations

  8. Max Planck Institute for Plasma Physics

    Garching, Germany

    5 h-index

    19 publications

    1.2K citations

1–8 of 187

Venues

  1. Nuclear Fusion

    12 publications · 598 citations

    12

    h-index

  2. Robotica

    6 publications · 148 citations

    6

    h-index

  3. The International Journal of Robotics Research

    IJRR · 6 publications · 1.1K citations

    6

    h-index

  4. IEEE Robotics and Automation Letters

    6 publications · 354 citations

    6

    h-index

  5. IEEE Transactions on Robotics and Automation

    4 publications · 141 citations

    4

    h-index

1–5