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It will be shown to be applicable both offline and online. Many physical attributes, namely angle, collision, velocity, and dynamic torque, are represented as B-spline explicit functions. The B-spline coefficients are then calculated to limit the physical attributes. This explicit method can guarantee that many limits are met. Hence, it is better than many methods that only reduce such physical attributes using objective functions.<\/jats:p>","DOI":"10.1017\/s0263574714000496","type":"journal-article","created":{"date-parts":[[2014,3,10]],"date-time":"2014-03-10T11:19:15Z","timestamp":1394450355000},"page":"705-720","source":"Crossref","is-referenced-by-count":5,"title":["Humanoid robot upper body motion generation using B-spline-based functions"],"prefix":"10.1017","volume":"33","author":[{"given":"M.","family":"Ruchanurucks","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,3,10]]},"reference":[{"key":"S0263574714000496_ref24","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Ude","year":"2000"},{"key":"S0263574714000496_ref13","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Ruchanurucks","year":"2005"},{"key":"S0263574714000496_ref33","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Mahvash","year":"2006"},{"key":"S0263574714000496_ref8","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Khoury","year":"2013"},{"key":"S0263574714000496_ref4","first-page":"39","volume-title":"Proceedings of ACM SIGGRAPH","author":"Lee","year":"1999"},{"key":"S0263574714000496_ref2","volume-title":"Proceedings of the 2nd International Symposium on Adaptive Motion of Animals and Machines","author":"Safonova","year":"2003"},{"key":"S0263574714000496_ref29","volume-title":"Proceedings of ACM SIGGRAPH","author":"Rose","year":"1996"},{"key":"S0263574714000496_ref11","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"D'Souza","year":"2001"},{"key":"S0263574714000496_ref30","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008382309369"},{"key":"S0263574714000496_ref23","first-page":"35","volume-title":"Proceedings of the ACM Symposium on Interactive 3D Graphics","author":"Gotler","year":"1995"},{"key":"S0263574714000496_ref27","doi-asserted-by":"publisher","DOI":"10.1016\/B978-0-12-174590-5.50029-0"},{"key":"S0263574714000496_ref10","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Shin","year":"2010"},{"key":"S0263574714000496_ref15","volume-title":"Proceedings of the IEEE-RAS International Conference on Humanoid Robots","author":"Nakaoka","year":"2012"},{"key":"S0263574714000496_ref3","doi-asserted-by":"crossref","unstructured":"G. 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