{"id":"https://openalex.org/W2053355128","doi":"https://doi.org/10.1080/00207720410001684530","title":"Evolving a multiobjective obstacle avoidance skill of a seven-link manipulator subject to constraints","display_name":"Evolving a multiobjective obstacle avoidance skill of a seven-link manipulator subject to constraints","publication_year":2004,"publication_date":"2004-03-15","ids":{"openalex":"https://openalex.org/W2053355128","doi":"https://doi.org/10.1080/00207720410001684530","mag":"2053355128"},"language":"en","primary_location":{"id":"doi:10.1080/00207720410001684530","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207720410001684530","pdf_url":null,"source":{"id":"https://openalex.org/S129640837","display_name":"International Journal of Systems Science","issn_l":"0020-7721","issn":["0020-7721","1464-5319"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Systems Science","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/A5060656142","display_name":"Thrishantha Nanayakkara","orcid":"https://orcid.org/0000-0002-1882-1232"},"institutions":[{"id":"https://openalex.org/I177136067","display_name":"Saga University","ror":"https://ror.org/04f4wg107","country_code":"JP","type":"education","lineage":["https://openalex.org/I177136067"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Thrishanta Nanayakkara","raw_affiliation_strings":["Graduate School of Science and Engineering, Faculty of Engineering Systems and Technology, Saga University, 1-Honjomachi, Saga 840-8502, Japan","Graduate School of Science and Engineering , Faculty of Engineering Systems and Technology, Saga University , 1-Honjomachi, Saga 840-8502, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Faculty of Engineering Systems and Technology, Saga University, 1-Honjomachi, Saga 840-8502, Japan","institution_ids":["https://openalex.org/I177136067"]},{"raw_affiliation_string":"Graduate School of Science and Engineering , Faculty of Engineering Systems and Technology, Saga University , 1-Honjomachi, Saga 840-8502, Japan","institution_ids":["https://openalex.org/I177136067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111518950","display_name":"Keigo Watanabe","orcid":null},"institutions":[{"id":"https://openalex.org/I177136067","display_name":"Saga University","ror":"https://ror.org/04f4wg107","country_code":"JP","type":"education","lineage":["https://openalex.org/I177136067"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keigo Watanabe","raw_affiliation_strings":["Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, Saga 840-8502, Japan","Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1\u2010Honjomachi, Saga 840\u20138502, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, Saga 840-8502, Japan","institution_ids":["https://openalex.org/I177136067"]},{"raw_affiliation_string":"Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1\u2010Honjomachi, Saga 840\u20138502, Japan","institution_ids":["https://openalex.org/I177136067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058003031","display_name":"Kazuo Kiguchi","orcid":"https://orcid.org/0000-0003-4408-0420"},"institutions":[{"id":"https://openalex.org/I177136067","display_name":"Saga University","ror":"https://ror.org/04f4wg107","country_code":"JP","type":"education","lineage":["https://openalex.org/I177136067"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuo Kiguchi","raw_affiliation_strings":["Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, Saga 840-8502, Japan","Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1\u2010Honjomachi, Saga 840\u20138502, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, Saga 840-8502, Japan","institution_ids":["https://openalex.org/I177136067"]},{"raw_affiliation_string":"Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1\u2010Honjomachi, Saga 840\u20138502, Japan","institution_ids":["https://openalex.org/I177136067"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101111525","display_name":"Kiyotaka Izumi","orcid":null},"institutions":[{"id":"https://openalex.org/I177136067","display_name":"Saga University","ror":"https://ror.org/04f4wg107","country_code":"JP","type":"education","lineage":["https://openalex.org/I177136067"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kiyotaka Izumi","raw_affiliation_strings":["Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, Saga 840-8502, Japan","Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1\u2010Honjomachi, Saga 840\u20138502, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, Saga 840-8502, Japan","institution_ids":["https://openalex.org/I177136067"]},{"raw_affiliation_string":"Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1\u2010Honjomachi, Saga 840\u20138502, Japan","institution_ids":["https://openalex.org/I177136067"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I177136067"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.078602,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"35","issue":"3","first_page":"167","last_page":"178"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9983999729156494,"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":0.9983999729156494,"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":0.996999979019165,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/obstacle","display_name":"Obstacle","score":0.5442682504653931},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5249336361885071},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5003983974456787},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49957871437072754},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4861266613006592},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4786592423915863},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4417898952960968},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34171849489212036}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5442682504653931},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5249336361885071},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5003983974456787},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49957871437072754},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4861266613006592},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4786592423915863},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4417898952960968},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34171849489212036},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/00207720410001684530","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207720410001684530","pdf_url":null,"source":{"id":"https://openalex.org/S129640837","display_name":"International Journal of Systems Science","issn_l":"0020-7721","issn":["0020-7721","1464-5319"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Systems Science","raw_type":"journal-article"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/aa35d5aa-87fc-4b8a-8948-fcd9ea84ecaf","is_oa":false,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/aa35d5aa-87fc-4b8a-8948-fcd9ea84ecaf","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Nanayakkara , T , Watanabe , K , Kiguchi , K & Izumi , K 2004 , ' Evolving a multiobjective obstacle avoidance skill of a seven-link manipulator subject to constraints ' , INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE , vol. 35 , no. 3 , pp. 167-178 . https://doi.org/10.1080/00207720410001684530","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W107180564","https://openalex.org/W636003253","https://openalex.org/W1925202168","https://openalex.org/W1965847993","https://openalex.org/W1999700404","https://openalex.org/W2003591224","https://openalex.org/W2007099865","https://openalex.org/W2026036461","https://openalex.org/W2038659300","https://openalex.org/W2046546580","https://openalex.org/W2047738453","https://openalex.org/W2069725345","https://openalex.org/W2094300913","https://openalex.org/W2100476631","https://openalex.org/W2100695096","https://openalex.org/W2101938656","https://openalex.org/W2102006495","https://openalex.org/W2106334424","https://openalex.org/W2113260111","https://openalex.org/W2129974410","https://openalex.org/W2131954954","https://openalex.org/W2139385051","https://openalex.org/W2145848286","https://openalex.org/W2148298821","https://openalex.org/W2154047716","https://openalex.org/W2162450741","https://openalex.org/W2163023076","https://openalex.org/W2489401688","https://openalex.org/W3150997492","https://openalex.org/W4237954928","https://openalex.org/W4250697810","https://openalex.org/W4292880809"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2917514722","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W1971413691","https://openalex.org/W3043170174","https://openalex.org/W2357323510"],"abstract_inverted_index":{"A":[0],"remarkable":[1],"part":[2],"of":[3,6,43,55,77,81,99,114,127,131,137,159,168,188,196,210,225],"the":[4,36,75,78,82,111,115,128,132,152,156,166,174,178,189,193,208,220,226,244],"skills":[5,47],"human":[7,46,215],"experts":[8],"rendering":[9],"services":[10],"in":[11,35,52,155,192,198,207,219],"hazardous":[12],"and":[13,63,134,181],"dynamic":[14],"factory":[15,69],"environments":[16],"is":[17,94,121,229],"their":[18,30],"ability":[19],"to":[20,22,28,32,60,103,110,150],"continue":[21],"perform":[23,104],"a":[24,53,90,160,199],"job":[25],"while":[26,176],"reacting":[27],"adapt":[29],"posture":[31],"sudden":[33],"changes":[34],"environment":[37],"such":[38],"as":[39],"upcoming":[40],"obstacles.":[41],"Possession":[42],"these":[44],"typical":[45],"that":[48,72],"can":[49],"be":[50],"defined":[51],"set":[54],"linguistic":[56,161],"objectives":[57,197],"will":[58,73],"help":[59],"build":[61],"flexible":[62],"more":[64],"dexterous":[65,105],"robot":[66,101],"manipulators":[67,102],"for":[68,96,141,165],"automation":[70],"systems":[71],"meet":[74],"challenges":[76],"growing":[79,201],"complexity":[80],"modern":[83],"automated":[84],"manufacturing":[85],"environments.":[86],"In":[87],"this":[88],"paper":[89],"novel":[91],"soft-computing-based":[92],"method":[93,228],"proposed":[95,221,227],"redundancy":[97,142],"resolution":[98],"industrial":[100,237],"obstacle":[106,171],"avoidance":[107],"motions":[108],"subject":[109],"working":[112],"constraints":[113],"end":[116],"effector.":[117],"The":[118,185,203,223],"new":[119],"approach":[120,146],"based":[122],"on":[123],"evolving":[124],"redundant":[125],"rows":[126],"Jacobian":[129],"matrix":[130],"manipulator":[133,175,239],"intelligent":[135],"manipulation":[136],"user-defined":[138],"kinematic":[139],"functions":[140,187],"resolution.":[143],"An":[144],"evolutionary":[145],"has":[147],"been":[148],"adopted":[149],"enhance":[151],"search":[153],"efficiency":[154],"objective":[157,186],"space":[158],"multi-objective":[162],"problem":[163],"(MOP)":[164],"task":[167],"avoiding":[169],"an":[170,236],"moving":[172],"towards":[173],"keeping":[177],"end-effector":[179],"position":[180],"orientation":[182],"vector":[183],"static.":[184],"MOP":[190],"appear":[191],"weighted":[194],"sum":[195],"gradually":[200],"manner.":[202],"basic":[204],"natural":[205],"phenomena":[206],"process":[209],"complex":[211],"skill":[212],"acquisition":[213],"by":[214,243],"beings":[216],"are":[217],"reflected":[218],"approach.":[222],"effectiveness":[224],"demonstrated":[230],"through":[231],"experiments":[232],"carried":[233],"out":[234],"using":[235],"seven-link":[238],"called":[240],"PA-10,":[241],"manufactured":[242],"Mitsubishi":[245],"Heavy":[246],"Industries":[247],"Ltd.":[248]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}