Concepedia

Task-priority Inverse Kinematics

Task-Priority Inverse Kinematics is a hierarchical inverse kinematics framework that resolves multiple tasks with prioritized objectives by sequentially optimizing task errors in decreasing order of importance while preserving solutions to higher-priority tasks.

44

Publications

3.8K

Citations

81

Authors

45

Institutions

Publications per year

2017–2026

9

Parents

Publications

44

Task-Priority Based Redundancy Control of Robot Manipulators

Yoshihiko Nakamura, Hideo Hanafusa, Tsuneo Yoshikawa · The International Journal of Robotics Research · 1987 · 1K citations

, , +17

Kinematic Control of Redundant Manipulators: Generalizing the Task-Priority Framework to Inequality Task

Oussama Kanoun, Florent Lamiraux, Pierre-Brice Wieber · IEEE Transactions on Robotics · 2011 · 396 citations

, , +17

Closed-Loop Inverse Kinematics Schemes for Constrained Redundant Manipulators with Task Space Augmentation and Task Priority Strategy

Pasquale Chiacchio, S. Chiaverini, L. Sciavicco et al. · The International Journal of Robotics Research · 1991 · 304 citations

, , +17

An inverse kinematics architecture enforcing an arbitrary number of strict priority levels

Paolo Baerlocher, Ronan Boulic · The Visual Computer · 2004 · 279 citations · Full text

, , +12

Stability Analysis for Prioritized Closed-Loop Inverse Kinematic Algorithms for Redundant Robotic Systems

Gianluca Antonelli · IEEE Transactions on Robotics · 2009 · 237 citations

, , +17

1–5 of 44

Authors

81

  1. GA
    Gianluca Antonelli

    Università degli studi di Cassino e del Lazio Meridionale, Italy

    20 publications · 1.3K citations

    16

    h-index

  2. SC
    S. Chiaverini

    Università degli studi di Cassino e del Lazio Meridionale, Italy

    11 publications · 1K citations

    11

    h-index

  3. FA
    Filippo Arrichiello

    Università degli studi di Cassino e del Lazio Meridionale, Italy

    5 publications · 249 citations

    5

    h-index

  4. PD
    Paolo Di Lillo

    Università degli studi di Cassino e del Lazio Meridionale, Italy

    5 publications · 135 citations

    5

    h-index

  5. KY
    Kristin Y. Pettersen

    Norwegian University of Science and Technology, Norway

    4 publications · 153 citations

    4

    h-index

1–5 of 81

Institutions

45

  1. Università degli studi di Cassino e del Lazio Meridionale

    Cassino, Italy

    15 h-index

    44 publications

    2.2K citations

  2. Norwegian University of Science and Technology

    Trondheim, Norway

    4 h-index

    10 publications

    420 citations

  3. The University of Tokyo

    Tokyo, Japan

    2 h-index

    2 publications

    425 citations

  4. Université Fédérale de Toulouse Midi-Pyrénées

    Toulouse, France

    2 h-index

    3 publications

    454 citations

  5. Centre National de la Recherche Scientifique

    Paris, France

    2 h-index

    2 publications

    420 citations

  6. Universitat Politècnica de Catalunya

    Barcelona, Spain

    2 h-index

    4 publications

    186 citations

  7. University of California, Santa Barbara

    Santa Barbara, United States

    2 h-index

    2 publications

    126 citations

  8. The Nakamura Hajime Eastern Institute

    Tokyo, Japan

    2 h-index

    2 publications

    425 citations

1–8 of 45

Venues

  1. IEEE Transactions on Robotics

    4 publications · 888 citations

    4

    h-index

  2. 2

    h-index

  3. The International Journal of Robotics Research

    IJRR · 2 publications · 1.3K citations

    2

    h-index

  4. IFAC Proceedings Volumes

    1 publications · 14 citations

    1

    h-index

  5. IEEE/ASME Transactions on Mechatronics

    1 publications · 137 citations

    1

    h-index

1–5