{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,17]],"date-time":"2026-03-17T09:02:23Z","timestamp":1773738143211,"version":"3.50.1"},"reference-count":38,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2021,3,25]],"date-time":"2021-03-25T00:00:00Z","timestamp":1616630400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,3,25]],"date-time":"2021-03-25T00:00:00Z","timestamp":1616630400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100000038","name":"Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100001805","name":"Canada Foundation for Innovation","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100001805","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100009011","name":"Ontario Centres of Excellence","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100009011","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2021,4]]},"DOI":"10.1007\/s10846-021-01349-7","type":"journal-article","created":{"date-parts":[[2021,3,25]],"date-time":"2021-03-25T22:43:10Z","timestamp":1616712190000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Inverse Kinematics of High Dimensional Robotic Arm-Hand Systems for Precision Grasping"],"prefix":"10.1007","volume":"101","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3062-117X","authenticated-orcid":false,"given":"Shuwei","family":"Qiu","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0513-9485","authenticated-orcid":false,"given":"Mehrdad R.","family":"Kermani","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2021,3,25]]},"reference":[{"issue":"3","key":"1349_CR1","doi-asserted-by":"publisher","first-page":"37","DOI":"10.1080\/2151237X.2005.10129202","volume":"10","author":"SR Buss","year":"2005","unstructured":"Buss, S.R., Kim, J.-S.: Selectively damped least squares for inverse kinematics. Journal of Graphics Tools 10(3), 37\u201349 (2005)","journal-title":"Journal of Graphics Tools"},{"key":"1349_CR2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-32552-1","volume-title":"Springer Handbook of Robotics","author":"B Siciliano","year":"2016","unstructured":"Siciliano, B., Khatib, O.: Springer Handbook of Robotics. Springer, Berlin (2016)"},{"issue":"4","key":"1349_CR3","doi-asserted-by":"publisher","first-page":"3300","DOI":"10.1109\/LRA.2018.2852779","volume":"3","author":"R Calandra","year":"2018","unstructured":"Calandra, R., Owens, A., Jayaraman, D., Lin, J., Yuan, W., Malik, J., Adelson, E.H., Levine, S.: More than a feeling: learning to grasp and regrasp using vision and touch. IEEE Robotics and Automation Letters 3(4), 3300\u20133307 (2018)","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"6","key":"1349_CR4","doi-asserted-by":"publisher","first-page":"1393","DOI":"10.1109\/TRO.2015.2492863","volume":"31","author":"Li Yi","year":"2015","unstructured":"Yi, L i, Saut, J.-P., Pettr\u00e9, J., Sahbani, A., Multon, F.: Fast grasp planning using cord geometry. IEEE Trans. Robot. 31(6), 1393\u20131403 (2015)","journal-title":"IEEE Trans. Robot."},{"key":"1349_CR5","doi-asserted-by":"crossref","unstructured":"Przybylski, M., Asfour, T., Dillmann, R.: Planning grasps for robotic hands using a novel object representation based on the medial axis transform. In: 2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp 1781\u20131788. IEEE (2011)","DOI":"10.1109\/IROS.2011.6048625"},{"issue":"2","key":"1349_CR6","doi-asserted-by":"publisher","first-page":"257","DOI":"10.1007\/s00371-016-1333-x","volume":"34","author":"P Song","year":"2018","unstructured":"Song, P., Zhongqi, F u, Liu, L.: Grasp planning via hand-object geometric fitting. Vis. Comput. 34(2), 257\u2013270 (2018)","journal-title":"Vis. Comput."},{"key":"1349_CR7","doi-asserted-by":"crossref","unstructured":"Miller, A.T., Allen, P.K.: Graspit! a versatile simulator for robotic grasping. IEEE Robotics and Automation Magazine (2004)","DOI":"10.1109\/MRA.2004.1371616"},{"key":"1349_CR8","doi-asserted-by":"crossref","unstructured":"Vahrenkamp, N., Kr\u00f6hnert, M., Ulbrich, S., Asfour, T., Metta, G., Dillmann, R., Sandini, G.: Simox: a robotics toolbox for simulation, motion and grasp planning. In: Intelligent Autonomous Systems 12, pp 585\u2013594. Springer (2013)","DOI":"10.1007\/978-3-642-33926-4_55"},{"key":"1349_CR9","doi-asserted-by":"crossref","unstructured":"Akinola, I., Varley, J., Chen, B., Allen, P.K.: Workspace aware online grasp planning. In: 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp 2917\u20132924. IEEE (2018)","DOI":"10.1109\/IROS.2018.8593644"},{"issue":"1","key":"1349_CR10","doi-asserted-by":"publisher","first-page":"93","DOI":"10.1109\/TSMC.1986.289285","volume":"16","author":"CW Wampler","year":"1986","unstructured":"Wampler, C.W.: Manipulator inverse kinematic solutions based on vector formulations and damped least-squares methods. IEEE Transactions on Systems, Man, and Cybernetics 16(1), 93\u2013101 (1986)","journal-title":"IEEE Transactions on Systems, Man, and Cybernetics"},{"issue":"3","key":"1349_CR11","doi-asserted-by":"publisher","first-page":"398","DOI":"10.1109\/70.585902","volume":"13","author":"S Chiaverini","year":"1997","unstructured":"Chiaverini, S.: Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators. IEEE Trans. Robot. Autom. 13(3), 398\u2013410 (1997)","journal-title":"IEEE Trans. Robot. Autom."},{"issue":"6","key":"1349_CR12","doi-asserted-by":"publisher","first-page":"1732","DOI":"10.1111\/j.1420-9101.2008.01582.x","volume":"21","author":"E Pouydebat","year":"2008","unstructured":"Pouydebat, E., Laurin, M., Gorce, P., Bels, V.: Evolution of grasping among anthropoids. Journal of Evolutionary Biology 21(6), 1732\u20131743 (2008)","journal-title":"Journal of Evolutionary Biology"},{"issue":"1","key":"1349_CR13","doi-asserted-by":"publisher","first-page":"165","DOI":"10.1046\/j.1469-7580.2003.00144.x","volume":"202","author":"RW Young","year":"2003","unstructured":"Young, R.W.: Evolution of the human hand: the role of throwing and clubbing. J. Anat. 202(1), 165\u2013174 (2003)","journal-title":"J. Anat."},{"issue":"1","key":"1349_CR14","doi-asserted-by":"publisher","first-page":"26","DOI":"10.1177\/0278364914555544","volume":"34","author":"Y Lin","year":"2015","unstructured":"Lin, Y., Yu, S.: Robot grasp planning based on demonstrated grasp strategies. The International Journal of Robotics Research 34(1), 26\u201342 (2015)","journal-title":"The International Journal of Robotics Research"},{"issue":"7","key":"1349_CR15","doi-asserted-by":"publisher","first-page":"1061","DOI":"10.1109\/TSMC.2016.2531679","volume":"47","author":"G Cotugno","year":"2016","unstructured":"Cotugno, G., Althoefer, K., Nanayakkara, T.: The role of the thumb: study of finger motion in grasping and reachability space in human and robotic hands. IEEE Transactions on Systems, Man, and Cybernetics: Systems 47(7), 1061\u20131070 (2016)","journal-title":"IEEE Transactions on Systems, Man, and Cybernetics: Systems"},{"key":"1349_CR16","doi-asserted-by":"crossref","unstructured":"Flacco, F., Luca, A.D.: A reverse priority approach to multi-task control of redundant robots. In: 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp 2421\u20132427. IEEE (2014)","DOI":"10.1109\/IROS.2014.6942891"},{"key":"1349_CR17","doi-asserted-by":"crossref","unstructured":"Moe, S., Teel, A.R., Antonelli, G., Pettersen, K.Y.: Stability analysis for set-based control within the singularity-robust multiple task-priority inverse kinematics framework. In: 2015 54th IEEE conference on decision and control (CDC), pp 171\u2013178. IEEE (2015)","DOI":"10.1109\/CDC.2015.7402104"},{"key":"1349_CR18","doi-asserted-by":"crossref","unstructured":"Moe, S., Antonelli, G., Pettersen, K.Y., Schrimpf, J.: Experimental results for set-based control within the singularity-robust multiple task-priority inverse kinematics framework. In: 2015 IEEE international conference on robotics and biomimetics (ROBIO), pp 1233\u20131239. IEEE (2015)","DOI":"10.1109\/ROBIO.2015.7418940"},{"issue":"1","key":"1349_CR19","doi-asserted-by":"publisher","first-page":"63","DOI":"10.1007\/s10846-016-0449-6","volume":"86","author":"W Liu","year":"2017","unstructured":"Liu, W., Chen, D., Steil, J.: Analytical inverse kinematics solver for anthropomorphic 7-dof redundant manipulators with human-like configuration constraints. Journal of Intelligent & Robotic Systems 86(1), 63\u201379 (2017)","journal-title":"Journal of Intelligent & Robotic Systems"},{"issue":"1","key":"1349_CR20","doi-asserted-by":"publisher","first-page":"27","DOI":"10.1007\/s10846-016-0384-6","volume":"85","author":"M Alibeigi","year":"2017","unstructured":"Alibeigi, M., Rabiee, S., Ahmadabadi, M.N.: Inverse kinematics based human mimicking system using skeletal tracking technology. Journal of Intelligent & Robotic Systems 85(1), 27\u201345 (2017)","journal-title":"Journal of Intelligent & Robotic Systems"},{"issue":"1","key":"1349_CR21","first-page":"178","volume":"30","author":"O Tutsoy","year":"2015","unstructured":"Tutsoy, O.: Cpg based rl algorithm learns to control of a humanoid robot leg. Int. J. Robot. Autom. 30(1), 178\u2013183 (2015)","journal-title":"Int. J. Robot. Autom."},{"issue":"11","key":"1349_CR22","doi-asserted-by":"publisher","first-page":"1735","DOI":"10.1177\/0142331216645176","volume":"39","author":"O Tutsoy","year":"2017","unstructured":"Tutsoy, O., Barkana, D.E., Colak, S.: Learning to balance an nao robot using reinforcement learning with symbolic inverse kinematic. Trans. Inst. Meas. Control. 39(11), 1735\u20131748 (2017)","journal-title":"Trans. Inst. Meas. Control."},{"key":"1349_CR23","doi-asserted-by":"crossref","unstructured":"Starke, S., Hendrich, N., Krupke, D., Zhang, J.: Evolutionary multi-objective inverse kinematics on highly articulated and humanoid robots. In: 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp 6959\u20136966. IEEE (2017)","DOI":"10.1109\/IROS.2017.8206620"},{"key":"1349_CR24","doi-asserted-by":"crossref","unstructured":"An, S.-I., Lee, D.: Prioritized inverse kinematics with multiple task definitions. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp 1423\u20131430. IEEE (2015)","DOI":"10.1109\/ICRA.2015.7139376"},{"key":"1349_CR25","doi-asserted-by":"crossref","unstructured":"Lee, J., Chang, P.H., Jamisola, R.S.: Relative task prioritization for dual-arm with multiple, conflicting tasks derivation and experiments. In: 2013 IEEE International Conference on Robotics and Automation, pp 1928\u20131933. IEEE (2013)","DOI":"10.1109\/ICRA.2013.6630833"},{"key":"1349_CR26","unstructured":"Hu, Y., Huang, B., Yang, G.-Z.: Task-priority redundancy resolution for co-operative control under task conflicts and joint constraints. In: 2015 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp 2398\u20132405. IEEE (2015)"},{"key":"1349_CR27","doi-asserted-by":"crossref","unstructured":"Jarqu\u00edn, G., Escande, A., Arechavaleta, G., Moulard, T., Yoshida, E., Parra-Vega, V.: Real-time smooth task transitions for hierarchical inverse kinematics. In: 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp 528\u2013533. IEEE (2013)","DOI":"10.1109\/HUMANOIDS.2013.7030024"},{"key":"1349_CR28","unstructured":"Hong, S., Park, G., Lee, W., Kang, S.: Realization of the fast real-time hierarchical inverse kinematics for dexterous full body manipulation. In: 2018 18th International Conference on Control, Automation and Systems (ICCAS), pp 166\u2013171. IEEE (2018)"},{"issue":"1","key":"1349_CR29","doi-asserted-by":"publisher","first-page":"235","DOI":"10.1109\/LRA.2019.2954820","volume":"5","author":"EM Hoffman","year":"2019","unstructured":"Hoffman, E.M., Polverini, M.P., Laurenzi, A., Tsagarakis, N.G.: A study on sparse hierarchical inverse kinematics algorithms for humanoid robots. IEEE Robotics and Automation Letters 5(1), 235\u2013242 (2019)","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"5","key":"1349_CR30","doi-asserted-by":"publisher","first-page":"1252","DOI":"10.1109\/TRO.2018.2830390","volume":"34","author":"S Brossette","year":"2018","unstructured":"Brossette, S., Escande, A., Kheddar, A.: Multicontact postures computation on manifolds. IEEE Trans. Robot. 34(5), 1252\u20131265 (2018)","journal-title":"IEEE Trans. Robot."},{"issue":"2","key":"1349_CR31","doi-asserted-by":"publisher","first-page":"2905","DOI":"10.1109\/LRA.2020.2974689","volume":"5","author":"M Murooka","year":"2020","unstructured":"Murooka, M., Okada, K., Inaba, M.: Optimization-based posture generation for whole-body contact motion by contact point search on the body surface. IEEE Robotics and Automation Letters 5(2), 2905\u20132912 (2020)","journal-title":"IEEE Robotics and Automation Letters"},{"key":"1349_CR32","unstructured":"Feix, T., Pawlik, R., Schmiedmayer, H.-B., Romero, J., Kragic, D.: A comprehensive grasp taxonomy. In: Robotics, science and systems: workshop on understanding the human hand for advancing robotic manipulation. Available: http:\/\/grasp.xief.net, vol. 2, pp 2\u20133 (2009)"},{"key":"1349_CR33","doi-asserted-by":"crossref","unstructured":"\u017elajpah, L.: On orientation control of functional redundant robots. In: 2017 IEEE International Conference on Robotics and Automation (ICRA), pp 2475\u20132482. IEEE (2017)","DOI":"10.1109\/ICRA.2017.7989288"},{"issue":"11","key":"1349_CR34","doi-asserted-by":"publisher","first-page":"1385","DOI":"10.1177\/0278364914566516","volume":"34","author":"A Dietrich","year":"2015","unstructured":"Dietrich, A., Ott, C., Albu-Sch\u00e4ffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385\u20131400 (2015)","journal-title":"The International Journal of Robotics Research"},{"key":"1349_CR35","unstructured":"Sciavicco, L., Siciliano, B.: Modelling and Control of Robot Manipulators. Springer Science & Business Media (2012)"},{"key":"1349_CR36","unstructured":"Kahan, W.: How futile are mindless assessments of roundoff in floating-point computation? https:\/\/people.eecs.berkeley.edu\/wkahan\/Mindless.pdf (2006)"},{"key":"1349_CR37","doi-asserted-by":"crossref","unstructured":"Rohmer, E., Singh, Surya PN, Freese, M.: V-rep: a versatile and scalable robot simulation framework. In: 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp 1321\u20131326. IEEE (2013)","DOI":"10.1109\/IROS.2013.6696520"},{"key":"1349_CR38","doi-asserted-by":"crossref","unstructured":"Calli, B., Walsman, A., Singh, A., Srinivasa, S., Abbeel, P., Dollar, A.M.: Benchmarking in manipulation research: the ycb object and model set and benchmarking protocols. arXiv:1502.03143 (2015)","DOI":"10.1109\/MRA.2015.2448951"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01349-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-021-01349-7\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01349-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,4,26]],"date-time":"2021-04-26T15:05:26Z","timestamp":1619449526000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-021-01349-7"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,3,25]]},"references-count":38,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2021,4]]}},"alternative-id":["1349"],"URL":"https:\/\/doi.org\/10.1007\/s10846-021-01349-7","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,3,25]]},"assertion":[{"value":"27 August 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"16 February 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"25 March 2021","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"This manuscript has not be submitted to other journals for simultaneous consideration.The submitted work is original and has not been published elsewhere in any form or language (partially or in full).The submitted work is complete and has not be split up into several parts to increase the quantity of submissions.The results in this paper are presented clearly, honestly, and without fabrication, falsification or inappropriate data manipulation.No data, text, or theories by others are presented as if they were the author\u2019s own.The submitted work does not involve human participants and animals.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics approval and consent to participate"}},{"value":"The submitted work does not involve human participants and animals.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Consent for Publication"}},{"value":"The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Competing interests"}}],"article-number":"70"}}