{"id":"https://openalex.org/W7153446235","doi":"https://doi.org/10.1016/j.robot.2026.105478","title":"An embodied obstacle-avoidance method for concentric cable-driven manipulators operating in confined spaces","display_name":"An embodied obstacle-avoidance method for concentric cable-driven manipulators operating in confined spaces","publication_year":2026,"publication_date":"2026-04-11","ids":{"openalex":"https://openalex.org/W7153446235","doi":"https://doi.org/10.1016/j.robot.2026.105478"},"language":"en","primary_location":{"id":"doi:10.1016/j.robot.2026.105478","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.robot.2026.105478","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"},"type":"article","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/A5126975584","display_name":"Zhonghui Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhonghui Wei","raw_affiliation_strings":["School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000, China","institution_ids":["https://openalex.org/I119203015"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100751401","display_name":"Yu Gao","orcid":"https://orcid.org/0000-0002-8228-9981"},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuming Gao","raw_affiliation_strings":["School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000, China","institution_ids":["https://openalex.org/I119203015"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103095739","display_name":"Pengrui Wang","orcid":"https://orcid.org/0009-0007-9325-9693"},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengrui Wang","raw_affiliation_strings":["School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000, China","institution_ids":["https://openalex.org/I119203015"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133430862","display_name":"Zixuan Li","orcid":null},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zixuan Li","raw_affiliation_strings":["School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000, China","institution_ids":["https://openalex.org/I119203015"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087623881","display_name":"Shun Zhao","orcid":"https://orcid.org/0009-0000-4272-0768"},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shun Zhao","raw_affiliation_strings":["School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000, China","institution_ids":["https://openalex.org/I119203015"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133416427","display_name":"Yuxia Li","orcid":null},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxia Li","raw_affiliation_strings":["Institute of Modern Agricultural Equipment, Shandong University of Technology, Zibo, 255000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Modern Agricultural Equipment, Shandong University of Technology, Zibo, 255000, China","institution_ids":["https://openalex.org/I119203015"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032641340","display_name":"Zonggao Mu","orcid":"https://orcid.org/0000-0003-1841-6680"},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]},{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zonggao Mu","raw_affiliation_strings":["Institute of Modern Agricultural Equipment, Shandong University of Technology, Zibo, 255000, China","School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000, China","Zibo Key Laboratory of Collaborative Robots, AUBO(Shandong) Intelligent Robot Co., Ltd., Zibo, 255400, China"],"raw_orcid":"https://orcid.org/0000-0003-1841-6680","affiliations":[{"raw_affiliation_string":"Institute of Modern Agricultural Equipment, Shandong University of Technology, Zibo, 255000, China","institution_ids":["https://openalex.org/I119203015"]},{"raw_affiliation_string":"School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000, China","institution_ids":["https://openalex.org/I119203015"]},{"raw_affiliation_string":"Zibo Key Laboratory of Collaborative Robots, AUBO(Shandong) Intelligent Robot Co., Ltd., Zibo, 255400, China","institution_ids":["https://openalex.org/I4210144102"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":3020,"currency":"USD","value_usd":3020},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.49691619,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"202","issue":null,"first_page":"105478","last_page":"105478"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.21619999408721924,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.21619999408721924,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.1834000051021576,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.1793999969959259,"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/concentric","display_name":"Concentric","score":0.6718999743461609},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6524999737739563},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6000999808311462},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5669999718666077},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5527999997138977},{"id":"https://openalex.org/keywords/simulated-annealing","display_name":"Simulated annealing","score":0.5339000225067139},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5307000279426575},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.4916999936103821},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.46880000829696655}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8007000088691711},{"id":"https://openalex.org/C90296322","wikidata":"https://www.wikidata.org/wiki/Q619776","display_name":"Concentric","level":2,"score":0.6718999743461609},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6524999737739563},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6000999808311462},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5669999718666077},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5527999997138977},{"id":"https://openalex.org/C126980161","wikidata":"https://www.wikidata.org/wiki/Q863783","display_name":"Simulated annealing","level":2,"score":0.5339000225067139},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5307000279426575},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.4916999936103821},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.46880000829696655},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.46230000257492065},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.44940000772476196},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4124000072479248},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.40389999747276306},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38519999384880066},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3686999976634979},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.34689998626708984},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2971999943256378},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.28209999203681946},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.27399998903274536},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.2694999873638153},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.2694000005722046},{"id":"https://openalex.org/C177067428","wikidata":"https://www.wikidata.org/wiki/Q17013331","display_name":"Feasible region","level":2,"score":0.26739999651908875},{"id":"https://openalex.org/C2776470464","wikidata":"https://www.wikidata.org/wiki/Q1933900","display_name":"Micromanipulator","level":2,"score":0.2655999958515167},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2646999955177307}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.robot.2026.105478","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.robot.2026.105478","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1716633928","display_name":null,"funder_award_id":"61903100","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2632746868","display_name":null,"funder_award_id":"ZR2024QE539","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"},{"id":"https://openalex.org/G6404831847","display_name":null,"funder_award_id":"62473238","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/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null},{"id":"https://openalex.org/F4320326189","display_name":"Taishan Scholar Project of Shandong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1967963953","https://openalex.org/W2049617391","https://openalex.org/W2560100235","https://openalex.org/W3043379544","https://openalex.org/W3091339721","https://openalex.org/W3091636892","https://openalex.org/W3094186510","https://openalex.org/W3138919713","https://openalex.org/W3180322432","https://openalex.org/W4220755987","https://openalex.org/W4220797140","https://openalex.org/W4293498977","https://openalex.org/W4321457861","https://openalex.org/W4360770879","https://openalex.org/W4364302682","https://openalex.org/W4386142945","https://openalex.org/W4387266492","https://openalex.org/W4389607081","https://openalex.org/W4390466939","https://openalex.org/W4390562240","https://openalex.org/W4399563116"],"related_works":[],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-04-12T00:00:00"}