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Robot."],"published-print":{"date-parts":[[2020,2]]},"abstract":"<jats:p> Robot performance measures are important tools for quantifying the ability to carry out manipulation tasks. Generally, these measures examine the system\u2019s kinematic transformations from configuration to task space. This means that environmental constraints are neglected in spite of the significant effects they may have on the robot\u2019s admissible motions. In this paper, we propose a new measure called the constrained manipulability polytope (CMP) that considers the system\u2019s kinematic structure, including closed chains or composite sub-mechanisms, joint limits and the presence of obstacles. For an illustrative planar case, we demonstrate how the CMP can evaluate a robot\u2019s performance in a cluttered scene and how this evaluation can be extrapolated to obtain a workspace visualization. Additionally, we show the advantages and limitations of the CMP compared to the state of the art. Furthermore, the method is demonstrated both in simulation and experimentally for NASA\u2019s Valkyrie robot. We show how the CMP provides a measure for single-arm and dual-arm manipulation tasks, analyze the workspace and be used to optimize the robot\u2019s posture. <\/jats:p>","DOI":"10.1142\/s0219843619500373","type":"journal-article","created":{"date-parts":[[2019,11,22]],"date-time":"2019-11-22T10:01:33Z","timestamp":1574416893000},"page":"1950037","source":"Crossref","is-referenced-by-count":16,"title":["Constrained Manipulability for Humanoid Robots Using Velocity Polytopes"],"prefix":"10.1142","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0784-8720","authenticated-orcid":false,"given":"Philip","family":"Long","sequence":"first","affiliation":[{"name":"Department of Electrical and Computer Engineering, Northeastern University, Boston, Massachusetts 02115, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ta\u015fk\u0131n","family":"Pad\u0131r","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, Northeastern University, Boston, Massachusetts 02115, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2019,12,31]]},"reference":[{"key":"S0219843619500373BIB001","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2037252"},{"key":"S0219843619500373BIB002","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2044949"},{"issue":"1","key":"S0219843619500373BIB003","first-page":"6","volume":"19","author":"Abdel-Malek K.","year":"2004","journal-title":"Int. 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