{"id":"https://openalex.org/W7162467508","doi":"https://doi.org/10.1109/icmtim69588.2026.11525755","title":"Learning a Kinodynamic Trajectory Manifold for Impact-Aware Compliant Catching of Fast-Moving Objects","display_name":"Learning a Kinodynamic Trajectory Manifold for Impact-Aware Compliant Catching of Fast-Moving Objects","publication_year":2026,"publication_date":"2026-04-17","ids":{"openalex":"https://openalex.org/W7162467508","doi":"https://doi.org/10.1109/icmtim69588.2026.11525755"},"language":"en","primary_location":{"id":"doi:10.1109/icmtim69588.2026.11525755","doi":"https://doi.org/10.1109/icmtim69588.2026.11525755","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmtim69588.2026.11525755","pdf_url":null,"source":{"id":"https://openalex.org/S7407086341","display_name":"International Conference on Mechatronics Technology and Intelligent Manufacturing (ICMTIM)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 7th International Conference on Mechatronics Technology and Intelligent Manufacturing (ICMTIM)","raw_type":"proceedings-article"},"parent_works":[],"lineage":["https://openalex.org/W7162467508"],"child_works_count":0,"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/A5137389201","display_name":"Guorui Pei","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I9086337","display_name":"Taiyuan University of Technology","ror":"https://ror.org/03kv08d37","country_code":"CN","type":"education","lineage":["https://openalex.org/I9086337"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guorui Pei","raw_affiliation_strings":["College of Robotics, Taiyuan University of Technology,Taiyuan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Robotics, Taiyuan University of Technology,Taiyuan,China","institution_ids":["https://openalex.org/I9086337"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137048156","display_name":"Mengshi Zhang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]},{"id":"https://openalex.org/I4405263171","display_name":"City University of Hong Kong (Dongguan)","ror":"https://ror.org/03hj2gd47","country_code":"CN","type":"education","lineage":["https://openalex.org/I4405263171"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Mengshi Zhang","raw_affiliation_strings":["School of Data Science, City University of Hong Kong (Dongguan),Dongguan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Data Science, City University of Hong Kong (Dongguan),Dongguan,China","institution_ids":["https://openalex.org/I168719708","https://openalex.org/I4405263171"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137079029","display_name":"Xi Chen","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4396570619","display_name":"Great Bay University","ror":"https://ror.org/01hdgge16","country_code":"CN","type":"education","lineage":["https://openalex.org/I4396570619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xi Chen","raw_affiliation_strings":["School of Advanced Engineering, Great Bay University,Dongguan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Advanced Engineering, Great Bay University,Dongguan,China","institution_ids":["https://openalex.org/I4396570619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029265765","display_name":"Jinsong Wu","orcid":"https://orcid.org/0000-0003-4720-5946","observed_orcids":["https://orcid.org/0000-0003-4720-5946"]},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jinsong Wu","raw_affiliation_strings":["The Hong Kong Polytechnic University,Department of Mechanical Engineering,Hong Kong,SAR,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University,Department of Mechanical Engineering,Hong Kong,SAR,China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079424145","display_name":"Jiaming Qi","orcid":"https://orcid.org/0000-0003-2655-6835","observed_orcids":["https://orcid.org/0000-0003-2655-6835"]},"institutions":[{"id":"https://openalex.org/I47689461","display_name":"Northeast Forestry University","ror":"https://ror.org/02yxnh564","country_code":"CN","type":"education","lineage":["https://openalex.org/I47689461"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaming Qi","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Northeast Forestry University,Harbin,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Northeast Forestry University,Harbin,China","institution_ids":["https://openalex.org/I47689461"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100438332","display_name":"Peng Zhou","orcid":"https://orcid.org/0000-0002-2968-6937","observed_orcids":["https://orcid.org/0000-0002-2968-6937"]},"institutions":[{"id":"https://openalex.org/I4396570619","display_name":"Great Bay University","ror":"https://ror.org/01hdgge16","country_code":"CN","type":"education","lineage":["https://openalex.org/I4396570619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Zhou","raw_affiliation_strings":["School of Advanced Engineering, Great Bay University,Dongguan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Advanced Engineering, Great Bay University,Dongguan,China","institution_ids":["https://openalex.org/I4396570619"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"156","last_page":"160"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.6425999999046326,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.6425999999046326,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.3100999891757965,"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":0.014100000262260437,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/catching","display_name":"catching","score":0.3140000104904175},{"id":"https://openalex.org/keywords/fast-moving-objects","display_name":"fast-moving objects","score":0.6850000023841858},{"id":"https://openalex.org/keywords/compliant-control","display_name":"compliant control","score":0.8370000123977661},{"id":"https://openalex.org/keywords/impact-energy-absorption","display_name":"impact energy absorption","score":0.6729999780654907},{"id":"https://openalex.org/keywords/trajectory-estimation","display_name":"trajectory estimation","score":0.46299999952316284},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"reinforcement learning","score":0.40299999713897705},{"id":"https://openalex.org/keywords/humanoid-robots","display_name":"humanoid robots","score":0.4000000059604645},{"id":"https://openalex.org/keywords/trajectory-tracking","display_name":"trajectory tracking","score":0.3659999966621399}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5130000114440918},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4781999886035919},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.438400000333786},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.43709999322891235},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4359999895095825},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4081999957561493},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3034999966621399},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.29030001163482666},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27559998631477356},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.27059999108314514},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.2694000005722046},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.26829999685287476},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.2669999897480011},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.26190000772476196},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.2578999996185303},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2549999952316284},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.25459998846054077}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icmtim69588.2026.11525755","doi":"https://doi.org/10.1109/icmtim69588.2026.11525755","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmtim69588.2026.11525755","pdf_url":null,"source":{"id":"https://openalex.org/S7407086341","display_name":"International Conference on Mechatronics Technology and Intelligent Manufacturing (ICMTIM)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 7th International Conference on Mechatronics Technology and Intelligent Manufacturing (ICMTIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G2463721406","display_name":null,"funder_award_id":"62403211","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2018020788","https://openalex.org/W2145339207","https://openalex.org/W2327315597","https://openalex.org/W4214717370","https://openalex.org/W4312203798","https://openalex.org/W4383428329","https://openalex.org/W4390482211","https://openalex.org/W4404520857","https://openalex.org/W4413945049","https://openalex.org/W4414229512","https://openalex.org/W4415896115","https://openalex.org/W7118518404","https://openalex.org/W7122803719","https://openalex.org/W7125706995"],"related_works":["https://openalex.org/W2093432222","https://openalex.org/W4389666082","https://openalex.org/W4411467075","https://openalex.org/W4416748623","https://openalex.org/W2018020788","https://openalex.org/W3093560247","https://openalex.org/W4393139803","https://openalex.org/W1988281195","https://openalex.org/W2327315597"],"abstract_inverted_index":{"Fast":[0],"catching":[1,26,49],"of":[2,8],"free-flying":[3],"objects":[4],"is":[5,43,57],"difficult":[6],"because":[7],"short":[9],"reaction":[10],"time,":[11,37],"impact":[12,66],"uncertainty,":[13],"and":[14,28,68],"kinodynamic":[15,32],"constraints.":[16],"We":[17],"use":[18],"reinforcement":[19],"learning":[20],"in":[21],"simulation":[22],"to":[23,46],"collect":[24],"successful":[25],"trajectories":[27],"learn":[29],"a":[30,47],"lowdimensional":[31],"trajectory":[33,50,56],"manifold.":[34],"At":[35],"run":[36],"the":[38],"estimated":[39],"object":[40],"initial":[41],"state":[42],"mapped":[44],"directly":[45],"reference":[48],"without":[51],"online":[52],"nonlinear":[53],"optimization.":[54],"The":[55],"tracked":[58],"with":[59],"compliant":[60],"control":[61],"near":[62],"contact":[63],"for":[64],"improved":[65],"absorption":[67],"capture":[69],"stability.":[70]},"counts_by_year":[],"updated_date":"2026-11-14T11:04:58.165337","created_date":"2026-05-27T00:00:00"}
