{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,22]],"date-time":"2025-06-22T04:03:09Z","timestamp":1750564989657,"version":"3.41.0"},"reference-count":46,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2008,10,20]],"date-time":"2008-10-20T00:00:00Z","timestamp":1224460800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2009,9]]},"abstract":"<jats:title>SUMMARY<\/jats:title>\n\t  <jats:p>The robotic motion planning criteria has evolved from kinematics to dynamics in recent years. Many research achievements have been made in dynamic motion planning, but the externally applied loads are usually limited to the gravity force. Due to the increasing demand for generic tasks, the motion should be generated for various functions such as pulling, pushing, twisting, and bending. In this paper, a comprehensive form of equations of motion, which includes the general external loads applied at any point of branched tree structures, is implemented. An optimization-based algorithm is then developed to generate load-effective motions of redundant tree-structured systems for generic tasks. A highly articulated dual-arm human model is used to generate different effective motions to sustain different external load magnitudes. The results also provide a new scientific insight of human motion.<\/jats:p>","DOI":"10.1017\/s0263574708005110","type":"journal-article","created":{"date-parts":[[2008,10,20]],"date-time":"2008-10-20T08:00:56Z","timestamp":1224489656000},"page":"739-747","source":"Crossref","is-referenced-by-count":16,"title":["Planning load-effective dynamic motions of highly articulated human model for generic tasks"],"prefix":"10.1017","volume":"27","author":[{"given":"Joo H.","family":"Kim","sequence":"first","affiliation":[]},{"given":"Jingzhou","family":"Yang","sequence":"additional","affiliation":[]},{"given":"Karim","family":"Abdel-Malek","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2008,10,20]]},"reference":[{"key":"S0263574708005110_manual_ref-10","doi-asserted-by":"publisher","DOI":"10.1115\/1.2178359"},{"key":"S0263574708005110_manual_ref-21","doi-asserted-by":"publisher","DOI":"10.1109\/70.928569"},{"key":"S0263574708005110_manual_ref-24","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1984.6313329"},{"key":"S0263574708005110_manual_ref-16","first-page":"637","article-title":"Unique joint displacement generation for redundant robotic systems","volume":"45","author":"Chung","year":"1992","journal-title":"ASME Rob., Spatial Mech. Mech. Syst."},{"key":"S0263574708005110_manual_ref-11","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574707003852"},{"key":"S0263574708005110_manual_ref-13","doi-asserted-by":"crossref","unstructured":"13. Gompertz, R. S. and Yang, D. C. H. , \u201cFeasibility Evaluation of Dynamically Linearized Kinematically Redundant Planar Manipulators,\u201d Proceedings of IEEE International Conference on Robotics and Automation, Philadelphia, PA, USA, Vol. 1 (Apr. 1988) pp. 178\u2013182.","DOI":"10.1109\/ROBOT.1988.12044"},{"key":"S0263574708005110_manual_ref-29","doi-asserted-by":"publisher","DOI":"10.1115\/1.1634282"},{"key":"S0263574708005110_manual_ref-30","first-page":"813","article-title":"An alternative scheme for determination of joint reaction forces in human multibody models","volume":"43","author":"Blajer","year":"2005","journal-title":"J. Theor. Appl. Mech."},{"key":"S0263574708005110_manual_ref-26","doi-asserted-by":"publisher","DOI":"10.1002\/rob.10083"},{"key":"S0263574708005110_manual_ref-35","doi-asserted-by":"publisher","DOI":"10.1504\/IJHFMS.2006.011683"},{"key":"S0263574708005110_manual_ref-7","doi-asserted-by":"publisher","DOI":"10.1016\/S0895-7177(99)00190-9"},{"key":"S0263574708005110_manual_ref-12","doi-asserted-by":"crossref","unstructured":"12. Suh, K. and Hollerbach, J. , \u201cLocal Versus Global Torque Optimization of Redundant Manipulators,\u201d Proceedings of IEEE International Conference on Robotics and Automation, Raleigh, NC, USA, Vol. 4 (Mar. 1987) pp. 619\u2013624.","DOI":"10.1109\/ROBOT.1987.1087955"},{"key":"S0263574708005110_manual_ref-19","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574797000052"},{"key":"S0263574708005110_manual_ref-23","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-36119-0_2"},{"key":"S0263574708005110_manual_ref-28","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-4563(199903)16:3<151::AID-ROB2>3.0.CO;2-7"},{"volume-title":"Advanced Robotics: Redundancy and Optimization","year":"1991","author":"Nakamura","key":"S0263574708005110_manual_ref-14"},{"key":"S0263574708005110_manual_ref-31","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2006.03.012"},{"key":"S0263574708005110_manual_ref-38","doi-asserted-by":"publisher","DOI":"10.1002\/rob.8116"},{"key":"S0263574708005110_manual_ref-34","doi-asserted-by":"publisher","DOI":"10.1115\/1.1392310"},{"key":"S0263574708005110_manual_ref-39","doi-asserted-by":"crossref","unstructured":"39. Featherstone, R. and Orin, D. , \u201cRobot Dynamics: Equations and Algorithms,\u201d Proceedings of IEEE International Conference on Robotics and Automation, San Francisco, CA, USA, Vol. 1 (2000) pp. 826\u2013834.","DOI":"10.1109\/ROBOT.2000.844153"},{"volume-title":"Robotics: Control, Sensing, Vision, and Intelligence","year":"1987","author":"Fu","key":"S0263574708005110_manual_ref-41"},{"key":"S0263574708005110_manual_ref-45","doi-asserted-by":"publisher","DOI":"10.1115\/DETC2008-49268"},{"key":"S0263574708005110_manual_ref-46","doi-asserted-by":"publisher","DOI":"10.4271\/2007-01-2480"},{"volume-title":"Computer Graphics and Geometric Modeling for Engineers","year":"1993","author":"Anand","key":"S0263574708005110_manual_ref-42"},{"key":"S0263574708005110_manual_ref-2","doi-asserted-by":"publisher","DOI":"10.1109\/41.824136"},{"key":"S0263574708005110_manual_ref-15","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620060508"},{"key":"S0263574708005110_manual_ref-25","doi-asserted-by":"crossref","unstructured":"25. Hirakawa, A. R. and Kawamura, A. , \u201cTrajectory generation for redundant manipulators under optimization of consumed electrical energy,\u201d IEEE Industry Applications Conference, Thirty-First IAS Annual Meeting, San Diego, CA, USA, Vol. 3 (Oct. 1996) pp. 1626\u20131632.","DOI":"10.1109\/IAS.1996.559286"},{"volume-title":"Introduction to Optimum Design","year":"1989","author":"Arora","key":"S0263574708005110_manual_ref-43"},{"volume-title":"Computer-Aided Analysis of Mechanical Systems","year":"1988","author":"Nikravesh","key":"S0263574708005110_manual_ref-3"},{"key":"S0263574708005110_manual_ref-20","doi-asserted-by":"publisher","DOI":"10.1177\/027836499101000208"},{"key":"S0263574708005110_manual_ref-37","doi-asserted-by":"publisher","DOI":"10.1109\/70.843167"},{"key":"S0263574708005110_manual_ref-17","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008152705719"},{"key":"S0263574708005110_manual_ref-36","doi-asserted-by":"crossref","unstructured":"36. Kawasaki, H. , Beniya, Y. and Kanzaki, K. , \u201cMinimum Dynamics Parameters of Tree Structure Robot Models,\u201d Proceedings of IEEE International Conference on Industrial Electronics, Control and Instrumentation, Kobe, Japan Vol. 2 (1991) pp. 1100\u20131105.","DOI":"10.1109\/IECON.1991.239286"},{"key":"S0263574708005110_manual_ref-40","doi-asserted-by":"publisher","DOI":"10.1115\/1.4011045"},{"key":"S0263574708005110_manual_ref-8","doi-asserted-by":"publisher","DOI":"10.2514\/2.4531"},{"key":"S0263574708005110_manual_ref-9","doi-asserted-by":"publisher","DOI":"10.1115\/1.1667944"},{"key":"S0263574708005110_manual_ref-5","doi-asserted-by":"publisher","DOI":"10.2514\/3.11409"},{"key":"S0263574708005110_manual_ref-22","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574702004162"},{"key":"S0263574708005110_manual_ref-27","first-page":"126","article-title":"On Manipulator Posture Planning for Large Force Tasks","volume":"1","author":"Papadopoulos","year":"1995","journal-title":"Proceedings of IEEE International Conference on Robotics and Automation"},{"key":"S0263574708005110_manual_ref-32","doi-asserted-by":"publisher","DOI":"10.1016\/0169-8141(94)00088-K"},{"key":"S0263574708005110_manual_ref-44","doi-asserted-by":"publisher","DOI":"10.1137\/S1052623499350013"},{"key":"S0263574708005110_manual_ref-33","first-page":"25","article-title":"Development of three-dimensional whole-body musculoskeletal model for various motion analyses","volume":"40","author":"Hase","year":"1997","journal-title":"JSME Int. J."},{"key":"S0263574708005110_manual_ref-6","doi-asserted-by":"publisher","DOI":"10.1109\/70.563652"},{"key":"S0263574708005110_manual_ref-1","doi-asserted-by":"publisher","DOI":"10.1109\/56.804"},{"key":"S0263574708005110_manual_ref-18","doi-asserted-by":"publisher","DOI":"10.1109\/70.105387"},{"volume-title":"Computer-Aided Kinematics and Dynamics of Mechanical Systems","year":"1989","author":"Haug","key":"S0263574708005110_manual_ref-4"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574708005110","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,21]],"date-time":"2025-06-21T08:25:09Z","timestamp":1750494309000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574708005110\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2008,10,20]]},"references-count":46,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2009,9]]}},"alternative-id":["S0263574708005110"],"URL":"https:\/\/doi.org\/10.1017\/s0263574708005110","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2008,10,20]]}}}