{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,5]],"date-time":"2025-11-05T14:33:31Z","timestamp":1762353211714,"version":"3.37.3"},"reference-count":27,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2022,7,5]],"date-time":"2022-07-05T00:00:00Z","timestamp":1656979200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,7,5]],"date-time":"2022-07-05T00:00:00Z","timestamp":1656979200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100003052","name":"Ministry of Trade, Industry and Energy","doi-asserted-by":"publisher","award":["10077538"],"award-info":[{"award-number":["10077538"]}],"id":[{"id":"10.13039\/501100003052","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003725","name":"National Research Foundation of Korea","doi-asserted-by":"publisher","award":["2021R1A2C300591"],"award-info":[{"award-number":["2021R1A2C300591"]}],"id":[{"id":"10.13039\/501100003725","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Intel Serv Robotics"],"published-print":{"date-parts":[[2022,9]]},"DOI":"10.1007\/s11370-022-00431-9","type":"journal-article","created":{"date-parts":[[2022,7,5]],"date-time":"2022-07-05T19:02:46Z","timestamp":1657047766000},"page":"475-486","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Weighted hierarchical quadratic programming: assigning individual joint weights for each task priority"],"prefix":"10.1007","volume":"15","author":[{"given":"Keunwoo","family":"Jang","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0222-8688","authenticated-orcid":false,"given":"Sanghyun","family":"Kim","sequence":"additional","affiliation":[]},{"given":"Suhan","family":"Park","sequence":"additional","affiliation":[]},{"given":"Junhyung","family":"Kim","sequence":"additional","affiliation":[]},{"given":"Jaeheung","family":"Park","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2022,7,5]]},"reference":[{"issue":"1","key":"431_CR1","doi-asserted-by":"publisher","first-page":"109","DOI":"10.1109\/TFUZZ.2002.806321","volume":"11","author":"G Antonelli","year":"2003","unstructured":"Antonelli G, Chiaverini S (2003) Fuzzy redundancy resolution and motion coordination for underwater vehicle-manipulator systems. IEEE Trans Fuzzy Syst 11(1):109\u2013120. https:\/\/doi.org\/10.1109\/TFUZZ.2002.806321","journal-title":"IEEE Trans Fuzzy Syst"},{"issue":"2","key":"431_CR2","doi-asserted-by":"publisher","first-page":"286","DOI":"10.1109\/70.370511","volume":"11","author":"TF Chan","year":"1995","unstructured":"Chan TF, Dubey RV (1995) A weighted least-norm solution based scheme for avoiding joint limits for redundant joint manipulators. IEEE Trans Robot Autom 11(2):286\u2013292","journal-title":"IEEE Trans Robot Autom"},{"issue":"6","key":"431_CR3","doi-asserted-by":"publisher","first-page":"637","DOI":"10.1163\/1568553041257422","volume":"18","author":"Y Choi","year":"2004","unstructured":"Choi Y, Oh Y, Oh SR, Park J, Chung WK (2004) Multiple tasks manipulation for a robotic manipulator. Adv Robot 18(6):637\u2013653","journal-title":"Adv Robot"},{"key":"431_CR4","doi-asserted-by":"crossref","unstructured":"Dariush B, Zhu Y, Arumbakkam A, Fujimura K (2010) Constrained closed loop inverse kinematics. In: IEEE international conference on robotics and automation, IEEE, pp 2499\u20132506","DOI":"10.1109\/ROBOT.2010.5509456"},{"key":"431_CR5","doi-asserted-by":"crossref","unstructured":"Escande A, Mansard N, Wieber P (2010) Fast resolution of hierarchized inverse kinematics with inequality constraints. In: IEEE international conference on robotics and automation, IEEE, pp 3733\u20133738","DOI":"10.1109\/ROBOT.2010.5509953"},{"issue":"7","key":"431_CR6","doi-asserted-by":"publisher","first-page":"1006","DOI":"10.1177\/0278364914521306","volume":"33","author":"A Escande","year":"2014","unstructured":"Escande A, Mansard N, Wieber PB (2014) Hierarchical quadratic programming: Fast online humanoid-robot motion generation. Int J Robot Res 33(7):1006\u20131028","journal-title":"Int J Robot Res"},{"key":"431_CR7","doi-asserted-by":"crossref","unstructured":"Fang C, Rocchi A, Hoffman EM, Tsagarakis NG, Caldwell DG (2015) Efficient self-collision avoidance based on focus of interest for humanoid robots. In: IEEE-RAS international conference on humanoid robots, IEEE, pp 1060\u20131066","DOI":"10.1109\/HUMANOIDS.2015.7363500"},{"key":"431_CR8","doi-asserted-by":"publisher","unstructured":"Farelo F, Alqasemi R, Dubey R (2010) Optimized dual-trajectory tracking control of a 9-dof wmra system for adl tasks. In: 2010 IEEE international conference on robotics and automation, pp 1786\u20131791, https:\/\/doi.org\/10.1109\/ROBOT.2010.5509554","DOI":"10.1109\/ROBOT.2010.5509554"},{"key":"431_CR9","volume-title":"Matrix computations","author":"G Golub","year":"1996","unstructured":"Golub G, Van Loan C (1996) Matrix computations. John Hopkins University Press, Baltimore, MD"},{"key":"431_CR10","doi-asserted-by":"publisher","unstructured":"Jia Y, Xi N, Cheng Y, Liang S (2014) Coordinated motion control of a nonholonomic mobile manipulator for accurate motion tracking. In: 2014 IEEE\/RSJ international conference on intelligent robots and systems, pp 1635\u20131640, https:\/\/doi.org\/10.1109\/IROS.2014.6942774","DOI":"10.1109\/IROS.2014.6942774"},{"issue":"4","key":"431_CR11","doi-asserted-by":"publisher","first-page":"785","DOI":"10.1109\/TRO.2011.2142450","volume":"27","author":"O Kanoun","year":"2011","unstructured":"Kanoun O, Lamiraux F, Wieber PB (2011) Kinematic control of redundant manipulators: Generalizing the task-priority framework to inequality task. IEEE Trans Rob 27(4):785\u2013792. https:\/\/doi.org\/10.1109\/TRO.2011.2142450","journal-title":"IEEE Trans Rob"},{"issue":"2","key":"431_CR12","doi-asserted-by":"publisher","first-page":"1603","DOI":"10.1109\/LRA.2019.2896769","volume":"4","author":"S Kim","year":"2019","unstructured":"Kim S, Jang K, Park S, Lee Y, Lee SY, Park J (2019) Continuous task transition approach for robot controller based on hierarchical quadratic programming. IEEE Robot Autom Lett 4(2):1603\u20131610. https:\/\/doi.org\/10.1109\/LRA.2019.2896769","journal-title":"IEEE Robot Autom Lett"},{"key":"431_CR13","doi-asserted-by":"crossref","unstructured":"Kim S, Jang K, Park S, Lee Y, Lee SY, Park J (2019b) Whole-body control of non-holonomic mobile manipulator based on hierarchical quadratic programming and continuous task transition. In: IEEE international conference on advanced robotics and mechatronics, IEEE, pp 414\u2013419","DOI":"10.1109\/ICARM.2019.8834269"},{"key":"431_CR14","doi-asserted-by":"publisher","unstructured":"Lee Y, Ahn J, Lee J, Park J (2021a) Computationally efficient hqp-based whole-body control exploiting the operational-space formulation. In: 2021 IEEE\/RSJ international conference on intelligent robots and systems (IROS), pp 5197\u20135202, https:\/\/doi.org\/10.1109\/IROS51168.2021.9636867","DOI":"10.1109\/IROS51168.2021.9636867"},{"key":"431_CR15","doi-asserted-by":"publisher","first-page":"39813","DOI":"10.1109\/ACCESS.2021.3064151","volume":"9","author":"Y Lee","year":"2021","unstructured":"Lee Y, Kim S, Park J, Tsagarakis N, Lee J (2021) A whole-body control framework based on the operational space formulation under inequality constraints via task-oriented optimization. IEEE Access 9:39813\u201339826","journal-title":"IEEE Access"},{"key":"431_CR16","volume-title":"Numer Optim","author":"J Nocedal","year":"2006","unstructured":"Nocedal J, Stephen JW (2006) Numer Optim. Springer, Berlin"},{"issue":"6","key":"431_CR17","doi-asserted-by":"publisher","first-page":"623","DOI":"10.1017\/S0263574704000293","volume":"22","author":"D Omr\u010den","year":"2004","unstructured":"Omr\u010den D, \u017dlajpah L, Nemec B (2004) Autonomous motion of a mobile manipulator using a combined torque and velocity control. Robotica 22(6):623\u2013632. https:\/\/doi.org\/10.1017\/S0263574704000293","journal-title":"Robotica"},{"key":"431_CR18","doi-asserted-by":"publisher","unstructured":"Park HA, Lee CG (2016) Dual-arm coordinated-motion task specification and performance evaluation. In: 2016 IEEE\/RSJ international conference on intelligent robots and systems (IROS), pp 929\u2013936, https:\/\/doi.org\/10.1109\/IROS.2016.7759161","DOI":"10.1109\/IROS.2016.7759161"},{"key":"431_CR19","doi-asserted-by":"publisher","unstructured":"Park J, Khatib O (2006) Contact consistent control framework for humanoid robots. In: Proceedings 2006 IEEE international conference on robotics and automation, 2006. ICRA 2006., pp 1963\u20131969, https:\/\/doi.org\/10.1109\/ROBOT.2006.1641993","DOI":"10.1109\/ROBOT.2006.1641993"},{"key":"431_CR20","doi-asserted-by":"crossref","unstructured":"Park J, Chung W, Youm Y (1996) Weighted decomposition of kinematics and dynamics of kinematically redundant manipulators. In: Proceedings of IEEE international conference on robotics and automation, vol\u00a01, pp 480\u2013486","DOI":"10.1109\/ROBOT.1996.503822"},{"key":"431_CR21","doi-asserted-by":"publisher","unstructured":"Park J, Choi Y, Chung WK, Youm Y (2001) Multiple tasks kinematics using weighted pseudo-inverse for kinematically redundant manipulators. In: IEEE international conference on robotics and automation, vol\u00a04, pp 4041\u20134047 https:\/\/doi.org\/10.1109\/ROBOT.2001.933249","DOI":"10.1109\/ROBOT.2001.933249"},{"key":"431_CR22","doi-asserted-by":"publisher","unstructured":"Rocchi A, Hoffman EM, Caldwell DG, Tsagarakis NG (2015) Opensot: A whole-body control library for the compliant humanoid robot coman. In: IEEE international conference on robotics and automation, pp 6248\u20136253, https:\/\/doi.org\/10.1109\/ICRA.2015.7140076","DOI":"10.1109\/ICRA.2015.7140076"},{"key":"431_CR23","doi-asserted-by":"crossref","unstructured":"Sim J, Kim S, Park S, Kim S, Kim M, Park J (2021) Design of jet humanoid robot with compliant modular actuators for industrial and service applications. Appl Sci 11(13)","DOI":"10.3390\/app11136152"},{"key":"431_CR24","doi-asserted-by":"publisher","unstructured":"Tassi F, De\u00a0Momi E, Ajoudani A (2021) Augmented hierarchical quadratic programming for adaptive compliance robot control. In: 2021 IEEE international conference on robotics and automation (ICRA), pp 3568\u20133574, https:\/\/doi.org\/10.1109\/ICRA48506.2021.9561506","DOI":"10.1109\/ICRA48506.2021.9561506"},{"key":"431_CR25","doi-asserted-by":"publisher","unstructured":"Tsuichihara S, Yamaguchi A, Takamatsu J, Ogasawara T (2015) Using a weighted pseudo-inverse matrix to generate upper body motion for a humanoid robot doing household tasks. In: IEEE international conference on robotics and biomimetics, pp 333\u2013338, https:\/\/doi.org\/10.1109\/ROBIO.2015.7418789","DOI":"10.1109\/ROBIO.2015.7418789"},{"key":"431_CR26","doi-asserted-by":"crossref","unstructured":"Wang J, Kim S, Vijayakumar S, Tonneau S (2021) Multi-fidelity receding horizon planning for multi-contact locomotion. In: 20th IEEE-RAS international conference on humanoid robots","DOI":"10.1109\/HUMANOIDS47582.2021.9555778"},{"issue":"2","key":"431_CR27","doi-asserted-by":"publisher","first-page":"3505","DOI":"10.1109\/LRA.2021.3062316","volume":"6","author":"Y Wu","year":"2021","unstructured":"Wu Y, Lamon E, Zhao F, Kim W, Ajoudani A (2021) Unified approach for hybrid motion control of moca based on weighted whole-body cartesian impedance formulation. IEEE Robot Autom Lett 6(2):3505\u20133512. https:\/\/doi.org\/10.1109\/LRA.2021.3062316","journal-title":"IEEE Robot Autom Lett"}],"container-title":["Intelligent Service Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-022-00431-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11370-022-00431-9\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-022-00431-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,9,30]],"date-time":"2022-09-30T11:25:43Z","timestamp":1664537143000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11370-022-00431-9"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,7,5]]},"references-count":27,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2022,9]]}},"alternative-id":["431"],"URL":"https:\/\/doi.org\/10.1007\/s11370-022-00431-9","relation":{},"ISSN":["1861-2776","1861-2784"],"issn-type":[{"type":"print","value":"1861-2776"},{"type":"electronic","value":"1861-2784"}],"subject":[],"published":{"date-parts":[[2022,7,5]]},"assertion":[{"value":"15 November 2021","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"1 June 2022","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"5 July 2022","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}