The DOI matches its Crossref record; 47 of the 47 references it cites were found in a registry or an index.
Hierarchical quadratic programming: Fast online humanoid-robot motion generation
Abstract
Hierarchical least-square optimization is often used in robotics to inverse a direct function when multiple incompatible objectives are involved. Typical examples are inverse kinematics or dynamics. The objectives can be given as equalities to be satisfied (e.g. point-to-point task) or as areas of satisfaction (e.g. the joint range). This paper proposes a complete solution to solve multiple least-square quadratic problems of both equality and inequality constraints ordered into a strict hierarchy. Our method is able to solve a hierarchy of only equalities 10 times faster than the iterative-projection hierarchical solvers and can consider inequalities at any level while running at the typical control frequency on whole-body size problems. This generic solver is used to resolve the redundancy of humanoid robots while generating complex movements in constrained environments.
Overview
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Verification
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Citations
Cites
Boyd, S., & Vandenberghe, L. (2004) · doi:10.1017/cbo9780511804441 · Cited by 56,601
(2006) · Springer Series in Operations Research and Financial Engineering · doi:10.1007/978-0-387-40065-5 · Cited by 9,008
Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
Khatib, O. (1986) · The International Journal of Robotics Research · doi:10.1177/027836498600500106 · Cited by 7,894
Generalized Inverses: Theory and Applications
Rohatgi, V. K., Ben-Israel, A., & Greville, T. N. E. (1976) · International Statistical Review / Revue Internationale de Statistique · doi:10.2307/1403291 · Cited by 4,506
Numerical Methods for Least Squares Problems
Björck, Å. (1996) · Society for Industrial and Applied Mathematics eBooks · doi:10.1137/1.9781611971484 · Cited by 3,257
Numerical methods for least squares problems
(1996) · Choice Reviews Online · doi:10.5860/choice.34-1602 · Cited by 3,007
Khatib, O. (1987) · IEEE Journal on Robotics and Automation · doi:10.1109/jra.1987.1087068 · Cited by 2,940
Manipulability of Robotic Mechanisms
Yoshikawa, T. (1985) · The International Journal of Robotics Research · doi:10.1177/027836498500400201 · Cited by 2,582
Biped walking pattern generation by using preview control of zero-moment point
Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., & Hirukawa, H. (2004) · 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) · doi:10.1109/robot.2003.1241826 · Cited by 2,104
Cited by
The Next Step in Robot Commissioning: Autonomous Picking and Palletizing
Krug, R., Stoyanov, T., Tincani, V., Andreasson, H., Mosberger, R., Fantoni, G., & Lilienthal, A. J. (2016) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2016.2519944 · Cited by 83
Metadata
- Authors
- Escande, A., Mansard, N., & Wieber, P.-B.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 2014-05-01
- Volume
- 33
- Issue
- 7
- Pages
- 1006-1028
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2019606703
- Cited by
- 558
- References
- 47
- FWCI
- 55.83
- Type
- journal article
- Language
- en
- Open access
- closed
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
How to cite
Cite CoChat for the checks on this page, and the paper for its own findings.
- This page
- CoChat. (2026). Citation check: Hierarchical quadratic programming: Fast online humanoid-robot motion generation. https://app.cochat.ai/papers/10.1177/0278364914521306
- The paper
- Escande, A., Mansard, N., & Wieber, P.-B. (2014). Hierarchical quadratic programming: Fast online humanoid-robot motion generation. The International Journal of Robotics Research. https://doi.org/10.1177/0278364914521306
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
