{"id":"https://openalex.org/W3004112115","doi":"https://doi.org/10.1109/access.2020.2970540","title":"Motion Planning With Pose Constraints Based on Direct Projection for Anthropomorphic Manipulators","display_name":"Motion Planning With Pose Constraints Based on Direct Projection for Anthropomorphic Manipulators","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3004112115","doi":"https://doi.org/10.1109/access.2020.2970540","mag":"3004112115"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2970540","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2970540","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08976187.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08976187.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051919128","display_name":"Jiangping Wang","orcid":"https://orcid.org/0000-0001-5960-1853"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiangping Wang","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-5960-1853","affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100672364","display_name":"Shirong Liu","orcid":"https://orcid.org/0000-0002-8357-3116"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shirong Liu","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-8357-3116","affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100666361","display_name":"Botao Zhang","orcid":"https://orcid.org/0000-0002-7826-3121"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Botao Zhang","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-7826-3121","affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037748023","display_name":"Qiang Lu","orcid":"https://orcid.org/0000-0002-1586-5598"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Lu","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-1586-5598","affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5051919128"],"corresponding_institution_ids":["https://openalex.org/I50760025"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0979,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.36332942,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"8","issue":null,"first_page":"32518","last_page":"32530"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9990000128746033,"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":0.9983000159263611,"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/motion-planning","display_name":"Motion planning","score":0.6223506331443787},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.576799213886261},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.553678035736084},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.5285567045211792},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.5096940994262695},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5083624720573425},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4860842525959015},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4817647933959961},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.44939687848091125},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.42467620968818665},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.42456716299057007},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37898170948028564},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1857767403125763},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14569306373596191},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08519166707992554}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6223506331443787},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.576799213886261},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.553678035736084},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.5285567045211792},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.5096940994262695},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5083624720573425},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4860842525959015},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4817647933959961},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.44939687848091125},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.42467620968818665},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.42456716299057007},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37898170948028564},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1857767403125763},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14569306373596191},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08519166707992554},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.2970540","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2970540","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08976187.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:17baecb8878e4063ac439a23a8a3515a","is_oa":true,"landing_page_url":"https://doaj.org/article/17baecb8878e4063ac439a23a8a3515a","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":"IEEE Access, Vol 8, Pp 32518-32530 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2970540","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2970540","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08976187.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7699999809265137,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1474490597","display_name":null,"funder_award_id":"111 Project","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3413785771","display_name":null,"funder_award_id":"D17019","funder_id":"https://openalex.org/F4320327912","funder_display_name":"Higher Education Discipline Innovation Project"},{"id":"https://openalex.org/G5723965603","display_name":null,"funder_award_id":"61503108","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/F4320327912","display_name":"Higher Education Discipline Innovation Project","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3004112115.pdf","grobid_xml":"https://content.openalex.org/works/W3004112115.grobid-xml"},"referenced_works_count":51,"referenced_works":["https://openalex.org/W1559814819","https://openalex.org/W1906034729","https://openalex.org/W1967495730","https://openalex.org/W1971086298","https://openalex.org/W1977431861","https://openalex.org/W1986375212","https://openalex.org/W1990349826","https://openalex.org/W2009124734","https://openalex.org/W2016416994","https://openalex.org/W2022831006","https://openalex.org/W2035960400","https://openalex.org/W2042106485","https://openalex.org/W2065261714","https://openalex.org/W2068127265","https://openalex.org/W2069666248","https://openalex.org/W2074966643","https://openalex.org/W2086883518","https://openalex.org/W2095668460","https://openalex.org/W2102128251","https://openalex.org/W2103776982","https://openalex.org/W2105293428","https://openalex.org/W2110762409","https://openalex.org/W2113265921","https://openalex.org/W2116341587","https://openalex.org/W2118730279","https://openalex.org/W2118897212","https://openalex.org/W2120485717","https://openalex.org/W2126386176","https://openalex.org/W2126436231","https://openalex.org/W2128990851","https://openalex.org/W2134447392","https://openalex.org/W2135699399","https://openalex.org/W2141664020","https://openalex.org/W2163157475","https://openalex.org/W2163426622","https://openalex.org/W2569641373","https://openalex.org/W2610796673","https://openalex.org/W2735705371","https://openalex.org/W2786893837","https://openalex.org/W2792806200","https://openalex.org/W2892076060","https://openalex.org/W2901136733","https://openalex.org/W2928801035","https://openalex.org/W2943486285","https://openalex.org/W2955747245","https://openalex.org/W3104753760","https://openalex.org/W4247782262","https://openalex.org/W6677784466","https://openalex.org/W6678609610","https://openalex.org/W6681136635","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W1991478428","https://openalex.org/W2014928560","https://openalex.org/W1987694097","https://openalex.org/W3158818664","https://openalex.org/W2797949337","https://openalex.org/W2372633663","https://openalex.org/W2863424594","https://openalex.org/W4388720133","https://openalex.org/W2564325388","https://openalex.org/W2108906364"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"efficient":[4],"planning":[5,17,29],"algorithm,":[6,139],"called":[7],"Direct-Projection":[8],"Rapidly-exploring":[9,135],"Random":[10,136],"Tree":[11,137],"(DP-RRT),":[12],"to":[13,32,43,146,162,183],"address":[14],"the":[15,37,51,54,64,104,115,120,129,134,141,148,156,164,168,177,185,188,209,212,215,224,230],"motion":[16],"with":[18,133],"end-effector":[19,213],"pose":[20,58],"constraints":[21,59],"for":[22,171],"anthropomorphic":[23],"manipulators.":[24],"The":[25,124,221],"key":[26],"of":[27,119,211,223,240],"this":[28,94],"problem":[30],"is":[31,144,160,181,191,227],"find":[33],"constraint-satisfying":[34,174,186],"configurations":[35,55,113],"on":[36,69,103,229],"constraint":[38,116,169],"manifolds":[39,117,170],"and":[40,47,84,89,155,196,204,214],"connect":[41],"them":[42],"generate":[44],"a":[45,98,173,237],"collision-free":[46],"smooth":[48],"path.":[49,175],"In":[50,93],"previous":[52],"works,":[53],"that":[56,109],"satisfy":[57],"are":[60,218],"generally":[61],"calculated":[62],"by":[63,151,193],"numerical":[65,87,121,198],"iteration":[66,122],"methods":[67],"based":[68,102],"Jacobian":[70],"projection":[71],"techniques.":[72],"However,":[73],"such":[74,80],"approaches":[75],"have":[76],"many":[77,86],"technical":[78],"challenges,":[79],"as":[81,206,208],"joint":[82,202],"limits":[83,203],"singularity,":[85,205],"iterations":[88],"much":[90],"computing":[91],"time.":[92],"work,":[95],"we":[96],"propose":[97],"Direct":[99,130,157],"Projection":[100,131,158],"method":[101,132,159],"analytic":[105,178],"inverse":[106],"kinematics":[107],"(IK)":[108],"can":[110],"directly":[111],"project":[112,163],"onto":[114,167],"instead":[118],"methods.":[123],"proposed":[125,225],"DP-RRT":[126,189],"algorithm":[127,143,190,226],"combines":[128],"(RRT)":[138],"where":[140],"RRT":[142],"employed":[145],"explore":[147],"ambient":[149],"space":[150],"growing":[152],"tree":[153,165],"branches,":[154],"used":[161,182],"branches":[166],"constructing":[172],"As":[176],"IK":[179],"solver":[180],"calculate":[184],"configurations,":[187],"characterized":[192],"high":[194],"efficiency":[195],"no":[197],"iteration.":[199],"Besides,":[200],"avoiding":[201],"well":[207],"smoothness":[210],"joints":[216],"trajectory":[217],"also":[219],"considered.":[220],"effectiveness":[222],"demonstrated":[228],"Willow":[231],"Garage's":[232],"PR2":[233],"simulation":[234],"platform":[235],"in":[236],"wide":[238],"range":[239],"pose-constrained":[241],"cases.":[242]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-06T09:05:17.133730","created_date":"2025-10-10T00:00:00"}
