{"id":"https://openalex.org/W4408320443","doi":"https://doi.org/10.1002/aisy.202400738","title":"Real\u2010Time Motion Generation for Robot Manipulators in Complex Dynamic Environments","display_name":"Real\u2010Time Motion Generation for Robot Manipulators in Complex Dynamic Environments","publication_year":2025,"publication_date":"2025-03-08","ids":{"openalex":"https://openalex.org/W4408320443","doi":"https://doi.org/10.1002/aisy.202400738"},"language":"en","primary_location":{"id":"doi:10.1002/aisy.202400738","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202400738","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202400738","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202400738","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100425874","display_name":"Tianyu Zhang","orcid":"https://orcid.org/0009-0007-3152-8341"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianyu Zhang","raw_affiliation_strings":["State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang 110016 China","University of Chinese Academy of Sciences  Beijing 100049 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang 110016 China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences  Beijing 100049 China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114928654","display_name":"Hongguang Wang","orcid":"https://orcid.org/0000-0003-0618-6398"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hongguang Wang","raw_affiliation_strings":["State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang 110016 China"],"raw_orcid":"https://orcid.org/0000-0003-0618-6398","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang 110016 China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100677607","display_name":"Peng Lv","orcid":"https://orcid.org/0000-0001-7680-7562"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Lv","raw_affiliation_strings":["State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang 110016 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang 110016 China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089596856","display_name":"Xinan Pan","orcid":"https://orcid.org/0000-0001-8539-9345"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin'an Pan","raw_affiliation_strings":["State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang 110016 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang 110016 China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104186505","display_name":"Daqian Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daqian Wang","raw_affiliation_strings":["State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang 110016 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang 110016 China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088314680","display_name":"Bingbing Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bingbing Yuan","raw_affiliation_strings":["State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang 110016 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang 110016 China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109733256","display_name":"Huiyang Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210093217","display_name":"China National Pharmaceutical Group Corporation (China)","ror":"https://ror.org/00k3gyk15","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210093217"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huiyang Yu","raw_affiliation_strings":["China National Aviation Fuel Group Limited  Beijing 100088 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China National Aviation Fuel Group Limited  Beijing 100088 China","institution_ids":["https://openalex.org/I4210093217"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5114928654"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"],"apc_list":{"value":2750,"currency":"USD","value_usd":2750},"apc_paid":{"value":2750,"currency":"USD","value_usd":2750},"fwci":0.9759,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.72326952,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"7","issue":"7","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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":0.9994999766349792,"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/robot-manipulator","display_name":"Robot manipulator","score":0.5666764378547668},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5426069498062134},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5285329222679138},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4202905297279358},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37654006481170654},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3265960216522217},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0613875687122345}],"concepts":[{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5666764378547668},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5426069498062134},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5285329222679138},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4202905297279358},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37654006481170654},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3265960216522217},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0613875687122345}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1002/aisy.202400738","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202400738","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202400738","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:db12f0916e6b4f7a90323f185f28e35b","is_oa":true,"landing_page_url":"https://doaj.org/article/db12f0916e6b4f7a90323f185f28e35b","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Advanced Intelligent Systems, Vol 7, Iss 7, Pp n/a-n/a (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1002/aisy.202400738","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202400738","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202400738","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3809800735","display_name":null,"funder_award_id":"2022JC3K06","funder_id":"https://openalex.org/F4320321133","funder_display_name":"Chinese Academy of Sciences"},{"id":"https://openalex.org/G727973362","display_name":null,"funder_award_id":"U20A20282","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"},{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4408320443.pdf"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W2015003349","https://openalex.org/W2058544403","https://openalex.org/W2103120971","https://openalex.org/W2295029210","https://openalex.org/W2306644740","https://openalex.org/W2561340204","https://openalex.org/W2897254705","https://openalex.org/W2912317744","https://openalex.org/W2925101122","https://openalex.org/W2962678727","https://openalex.org/W3002904623","https://openalex.org/W3007895067","https://openalex.org/W3093106179","https://openalex.org/W3094027819","https://openalex.org/W3127430169","https://openalex.org/W3132949024","https://openalex.org/W3138330110","https://openalex.org/W3181385848","https://openalex.org/W3199893308","https://openalex.org/W4220840735","https://openalex.org/W4225292582","https://openalex.org/W4253447983","https://openalex.org/W4285123922","https://openalex.org/W4308421453","https://openalex.org/W4366310718","https://openalex.org/W4378697332","https://openalex.org/W4379141519","https://openalex.org/W4399679404"],"related_works":["https://openalex.org/W1982160337","https://openalex.org/W1971380437","https://openalex.org/W1983548084","https://openalex.org/W2141691317","https://openalex.org/W2110846987","https://openalex.org/W2160609742","https://openalex.org/W1997414638","https://openalex.org/W2031091109","https://openalex.org/W2049254832","https://openalex.org/W2383436541"],"abstract_inverted_index":{"Motion":[0],"generation":[1,23],"in":[2,28,141,148],"human\u2013robot":[3,121],"shared":[4],"workspaces":[5],"often":[6],"faces":[7],"challenges":[8],"such":[9],"as":[10],"discontinuous":[11],"movement":[12],"and":[13,40,45,56,120,139,151],"slow":[14],"responses.":[15],"To":[16],"address":[17],"these":[18],"challenges,":[19],"a":[20,72,85,96],"real\u2010time":[21],"motion":[22,66,98,118],"method":[24,35,91,135],"for":[25,92],"robot":[26,57],"manipulators":[27,58],"complex":[29,142],"dynamic":[30,143],"environments":[31],"is":[32,59,100],"proposed.":[33],"The":[34,69,130],"autonomously":[36],"generates":[37],"safe":[38],"trajectories":[39],"significantly":[41],"enhances":[42],"path":[43,149],"smoothness":[44,150],"reaction":[46,152],"time.":[47,153],"An":[48],"online":[49],"minimum":[50,89,115],"distance":[51,90],"calculation":[52],"algorithm":[53,70],"between":[54],"human":[55],"developed":[60],"via":[61],"an":[62],"inertial":[63],"measurement":[64],"unit\u2010based":[65],"capture":[67],"system.":[68],"employs":[71],"unified":[73],"geometric":[74],"representation":[75],"of":[76],"the":[77,110,134],"\u201chuman\u2013robot\u2013environment\u201d":[78],"model":[79],"using":[80],"superquadric":[81],"surfaces.":[82],"It":[83],"introduces":[84],"closed\u2010form":[86],"Minkowski":[87],"sum\u2010based":[88],"efficient":[93],"calculations.":[94],"Additionally,":[95],"collision\u2010free":[97],"generator":[99],"proposed":[101],"that":[102,133],"integrates":[103],"global":[104],"planning":[105],"with":[106,145],"local":[107],"control,":[108],"where":[109],"controller":[111],"simultaneously":[112],"considers":[113],"all":[114],"distances,":[116],"enhancing":[117],"continuity":[119],"safety.":[122],"Experiments":[123],"on":[124],"robot\u2010manipulator\u2010assisted":[125],"aviation":[126],"refueling":[127],"are":[128],"conducted.":[129],"results":[131],"demonstrate":[132],"performs":[136],"tasks":[137],"safely":[138],"efficiently":[140],"environments,":[144],"notable":[146],"improvements":[147]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
