{"id":"https://openalex.org/W2165281806","doi":"https://doi.org/10.1109/iros.1995.525863","title":"Inverse kinematics of binary manipulators with applications to service robotics","display_name":"Inverse kinematics of binary manipulators with applications to service robotics","publication_year":2002,"publication_date":"2002-11-19","ids":{"openalex":"https://openalex.org/W2165281806","doi":"https://doi.org/10.1109/iros.1995.525863","mag":"2165281806"},"language":"en","primary_location":{"id":"doi:10.1109/iros.1995.525863","doi":"https://doi.org/10.1109/iros.1995.525863","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.1995.525863","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012775344","display_name":"Gregory S. Chirikjian","orcid":"https://orcid.org/0000-0003-0542-9028","observed_orcids":["https://orcid.org/0000-0003-0542-9028"]},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G.S. Chirikjian","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110602251","display_name":"David S. Lees","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D.S. Lees","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":1.6276,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.84551156,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"3","issue":null,"first_page":"65","last_page":"71"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.003599999938160181,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":9.999999747378752e-05,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"inverse kinematics","score":0.9769999980926514},{"id":"https://openalex.org/keywords/service-robotics","display_name":"service robotics","score":0.7369999885559082},{"id":"https://openalex.org/keywords/continuum-approach","display_name":"continuum approach","score":0.8709999918937683},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"forward kinematics","score":0.7540000081062317}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7950747609138489},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7301194071769714},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.6857227683067322},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6381176710128784},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5803780555725098},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.574381947517395},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5494805574417114},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4979376792907715},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48556777834892273},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4568922519683838},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3906093239784241},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2577926218509674},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2304389476776123},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14587607979774475},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.060050517320632935},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.1995.525863","doi":"https://doi.org/10.1109/iros.1995.525863","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.1995.525863","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W197002553","https://openalex.org/W1484628174","https://openalex.org/W1541488722","https://openalex.org/W1561587621","https://openalex.org/W1996273205","https://openalex.org/W2048614110","https://openalex.org/W2060506423","https://openalex.org/W2122398245","https://openalex.org/W2137670317","https://openalex.org/W4244682414"],"related_works":["https://openalex.org/W1575818821","https://openalex.org/W2170315376","https://openalex.org/W2103643819","https://openalex.org/W2152397206","https://openalex.org/W1569280314","https://openalex.org/W2991702366","https://openalex.org/W3134827699","https://openalex.org/W1996273205","https://openalex.org/W865078055","https://openalex.org/W2219525412"],"abstract_inverted_index":{"Binary":[0],"actuators":[1,21,50],"have":[2,22,64],"only":[3],"two":[4],"discrete":[5],"states,":[6],"both":[7],"of":[8,26,31,76,117,128,131,134,140,145],"which":[9],"are":[10,34,51],"stable":[11],"without":[12],"feedback.":[13],"As":[14],"a":[15,23,105,170],"result,":[16],"manipulators":[17,62,81,122],"built":[18],"with":[19,104],"binary":[20,32,88,106,121,164],"finite":[24],"number":[25,116,127],"states.":[27],"The":[28,100],"major":[29],"benefits":[30],"actuation":[33],"that":[35,114],"extensive":[36],"feedback":[37],"control":[38,110],"is":[39,82,96,108,148],"not":[40,149],"required,":[41],"task":[42],"repeatability":[43],"can":[44],"be":[45],"very":[46,53],"high,":[47],"and":[48,95,143],"two-state":[49],"generally":[52],"inexpensive,":[54],"resulting":[55],"in":[56,69,125,151],"low":[57],"cost":[58,75],"robotic":[59,80],"mechanisms.":[60],"These":[61],"therefore":[63],"great":[65],"potential":[66],"for":[67,162],"use":[68],"the":[70,74,115,126,152],"service":[71],"sector,":[72],"where":[73],"standard,":[77],"high":[78],"performance,":[79,94],"often":[83],"difficult":[84,102],"to":[85,109],"justify.":[86],"A":[87],"manipulator":[89,107,165],"by":[90,120,137],"contrast,":[91],"provides":[92],"good":[93],"also":[97],"relatively":[98],"inexpensive.":[99],"most":[101],"challenge":[103],"it":[111],"efficiently.":[112],"Given":[113],"configurations":[118],"attainable":[119],"grows":[123],"expotentially":[124],"actuated":[129,154],"degrees":[130],"freedom,":[132],"calculation":[133,144],"inverse":[135,166],"kinematics":[136,147,167],"direct":[138],"enumeration":[139],"joint":[141],"states":[142],"forward":[146],"feasible":[150],"highly":[153],"case.":[155],"This":[156],"paper":[157],"presents":[158],"an":[159],"efficient":[160],"method":[161],"performing":[163],"based":[168],"on":[169],"continuum":[171],"approach.":[172]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-10-26T11:51:55.731654","created_date":"2016-06-24T00:00:00"}