{"id":"https://openalex.org/W2922440665","doi":"https://doi.org/10.1109/robio.2018.8664765","title":"The Playback Trajectory Optimization Algorithm for Collaborative Robot","display_name":"The Playback Trajectory Optimization Algorithm for Collaborative Robot","publication_year":2018,"publication_date":"2018-12-01","ids":{"openalex":"https://openalex.org/W2922440665","doi":"https://doi.org/10.1109/robio.2018.8664765","mag":"2922440665"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2018.8664765","doi":"https://doi.org/10.1109/robio.2018.8664765","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8664765","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"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/A5066647318","display_name":"Youdong Chen","orcid":"https://orcid.org/0000-0002-1388-9297","observed_orcids":["https://orcid.org/0000-0002-1388-9297"]},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Youdong Chen","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, People's Republic of China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023825708","display_name":"Qiangguo Feng","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiangguo Feng","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, People's Republic of China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041249584","display_name":"Jiaxin Guo","orcid":"https://orcid.org/0009-0000-7179-4643","observed_orcids":["https://orcid.org/0009-0000-7179-4643"]},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaxin Guo","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, People's Republic of China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":1.0455,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.69965066,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1671","last_page":"1676"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.3540000021457672,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.3540000021457672,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.29030001163482666,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.27000001072883606,"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/collaborative-robots","display_name":"collaborative robots","score":0.9010000228881836},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"trajectory optimization","score":0.9380000233650208},{"id":"https://openalex.org/keywords/chomp","display_name":"Chomp","score":0.8569999933242798},{"id":"https://openalex.org/keywords/trajectory-smoothing","display_name":"trajectory smoothing","score":0.6309999823570251},{"id":"https://openalex.org/keywords/trajectory-dynamics","display_name":"trajectory dynamics","score":0.5009999871253967},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"obstacle avoidance","score":0.5509999990463257},{"id":"https://openalex.org/keywords/ur3-robot","display_name":"UR3 robot","score":0.7749999761581421},{"id":"https://openalex.org/keywords/motion-planning","display_name":"motion planning","score":0.4090000092983246}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7316383123397827},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6665531396865845},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6588019728660583},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5881096720695496},{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.4862338602542877},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.41574159264564514},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3900206387042999},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3556053042411804},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3478323519229889},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2018.8664765","doi":"https://doi.org/10.1109/robio.2018.8664765","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8664765","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1483423851","https://openalex.org/W1489796207","https://openalex.org/W1551864151","https://openalex.org/W1684361744","https://openalex.org/W1992154343","https://openalex.org/W1993938889","https://openalex.org/W1996731032","https://openalex.org/W2001350252","https://openalex.org/W2026157703","https://openalex.org/W2043535450","https://openalex.org/W2072228620","https://openalex.org/W2091829036","https://openalex.org/W2099893201","https://openalex.org/W2102128251","https://openalex.org/W2133853511","https://openalex.org/W2136719407","https://openalex.org/W2140801763","https://openalex.org/W2161395589","https://openalex.org/W2161819990","https://openalex.org/W4211008118","https://openalex.org/W4248056173","https://openalex.org/W6679792627"],"related_works":["https://openalex.org/W4388807109","https://openalex.org/W7214951914","https://openalex.org/W3028133957","https://openalex.org/W2161819990","https://openalex.org/W7134936522","https://openalex.org/W4404042419","https://openalex.org/W7204144076","https://openalex.org/W2099893201","https://openalex.org/W4281747715","https://openalex.org/W6931509619"],"abstract_inverted_index":{"Teaching":[0],"is":[1,60,72,84,107],"a":[2,137],"basic":[3],"function":[4],"of":[5,45,67,74,89,92,105,112,117,136],"many":[6],"collaborative":[7,68,138],"robots.":[8],"The":[9,70,94],"recorded":[10,134],"trajectories":[11,66,106,135],"with":[12],"teaching":[13],"may":[14,36],"contain":[15],"noises":[16,33],"and":[17,23,34,39,101,123],"jumps":[18,35],"due":[19],"to":[20,62,146],"hand":[21],"trembling":[22],"sensor":[24],"errors.":[25],"When":[26],"the":[27,43,46,64,78,87,90,99,110,128,133,144],"robot":[28,119,139],"replays":[29],"these":[30,32],"trajectories,":[31],"cause":[37],"vibrations":[38],"shocks,":[40],"even":[41],"damage":[42],"body":[44],"robot.":[47,69],"An":[48],"algorithm":[49,59,71,130],"based":[50],"on":[51],"CHOMP":[52],"(Covariant":[53],"Hamiltonian":[54],"Optimization":[55],"for":[56,86,109],"Motion":[57],"Planning)":[58],"proposed":[61,129],"optimize":[63,132],"playback":[65],"composed":[73],"two":[75],"norms":[76],"in":[77,120],"Hilbert":[79],"space.":[80],"One":[81],"Euclidian":[82],"norm":[83,96],"used":[85,108],"evaluation":[88,111],"replay":[91],"trajectories.":[93],"other":[95],"that":[97,127],"combines":[98],"first":[100],"second":[102],"order":[103],"derivatives":[104],"trajectory":[113,145],"dynamic":[114],"characters.":[115],"Experiments":[116],"UR3":[118],"both":[121],"obstacle-free":[122],"obstacle":[124],"environments":[125],"prove":[126],"can":[131],"as":[140,142],"well":[141],"enabling":[143],"maintain":[147],"useful.":[148]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2019-03-22T00:00:00"}