{"id":"https://openalex.org/W4386562595","doi":"https://doi.org/10.1109/access.2023.3306793","title":"Dual-Arm Path-Planning Algorithm for Wiring Harness Assembly Using Redundantly Actuated Robotic Systems","display_name":"Dual-Arm Path-Planning Algorithm for Wiring Harness Assembly Using Redundantly Actuated Robotic Systems","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4386562595","doi":"https://doi.org/10.1109/access.2023.3306793"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3306793","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3306793","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10246012.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":null,"license_id":null,"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/ielx7/6287639/10005208/10246012.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100384077","display_name":"Ji-Young Kim","orcid":"https://orcid.org/0009-0005-6686-7816"},"institutions":[{"id":"https://openalex.org/I35928602","display_name":"Kyung Hee University","ror":"https://ror.org/01zqcg218","country_code":"KR","type":"education","lineage":["https://openalex.org/I35928602"]},{"id":"https://openalex.org/I4210111434","display_name":"Korea Institute of Machinery & Materials","ror":"https://ror.org/01qcq9d74","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210111434","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jiyoung Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Kyung Hee University, Yongin, South Korea","Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials, Yongin, South Korea"],"raw_orcid":"https://orcid.org/0009-0005-6686-7816","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Kyung Hee University, Yongin, South Korea","institution_ids":["https://openalex.org/I35928602"]},{"raw_affiliation_string":"Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials, Yongin, South Korea","institution_ids":["https://openalex.org/I4210111434"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040634937","display_name":"Jin\u2010Gyun Kim","orcid":"https://orcid.org/0000-0002-2146-7609"},"institutions":[{"id":"https://openalex.org/I35928602","display_name":"Kyung Hee University","ror":"https://ror.org/01zqcg218","country_code":"KR","type":"education","lineage":["https://openalex.org/I35928602"]},{"id":"https://openalex.org/I4210111434","display_name":"Korea Institute of Machinery & Materials","ror":"https://ror.org/01qcq9d74","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210111434","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jin-Gyun Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Kyung Hee University, Yongin, South Korea","Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials, Yongin, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-2146-7609","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Kyung Hee University, Yongin, South Korea","institution_ids":["https://openalex.org/I35928602"]},{"raw_affiliation_string":"Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials, Yongin, South Korea","institution_ids":["https://openalex.org/I4210111434"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051540411","display_name":"Jong-Woo Park","orcid":"https://orcid.org/0000-0002-7197-0069"},"institutions":[{"id":"https://openalex.org/I4210111434","display_name":"Korea Institute of Machinery & Materials","ror":"https://ror.org/01qcq9d74","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210111434","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jongwoo Park","raw_affiliation_strings":["Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials, Yongin, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-7197-0069","affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials, Yongin, South Korea","institution_ids":["https://openalex.org/I4210111434"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059725173","display_name":"Byung-Kil Han","orcid":"https://orcid.org/0000-0003-4796-8708"},"institutions":[{"id":"https://openalex.org/I4210111434","display_name":"Korea Institute of Machinery & Materials","ror":"https://ror.org/01qcq9d74","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210111434","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byung-Kil Han","raw_affiliation_strings":["Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials, Yongin, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials, Yongin, South Korea","institution_ids":["https://openalex.org/I4210111434"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100326314","display_name":"Sang-Hyun Kim","orcid":"https://orcid.org/0000-0002-0222-8688"},"institutions":[{"id":"https://openalex.org/I35928602","display_name":"Kyung Hee University","ror":"https://ror.org/01zqcg218","country_code":"KR","type":"education","lineage":["https://openalex.org/I35928602"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sanghyun Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Kyung Hee University, Yongin, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-0222-8688","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Kyung Hee University, Yongin, South Korea","institution_ids":["https://openalex.org/I35928602"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101751879","display_name":"Dong Il Park","orcid":"https://orcid.org/0000-0003-4560-6340"},"institutions":[{"id":"https://openalex.org/I4210111434","display_name":"Korea Institute of Machinery & Materials","ror":"https://ror.org/01qcq9d74","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210111434","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dong Il Park","raw_affiliation_strings":["Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials, Yongin, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-4560-6340","affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials, Yongin, South Korea","institution_ids":["https://openalex.org/I4210111434"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.6884,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.70077915,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"11","issue":null,"first_page":"98427","last_page":"98435"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9994999766349792,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9988999962806702,"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/workspace","display_name":"Workspace","score":0.847702145576477},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7175868153572083},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7035585641860962},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6963149309158325},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6420218348503113},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5990548133850098},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5639225840568542},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.551750659942627},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.549488365650177},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5483924150466919},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.5332550406455994},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.489463210105896},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.489032119512558},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4482755661010742},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.41370660066604614},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3800767660140991},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34647631645202637},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24323216080665588},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18560603260993958},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1701483130455017}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.847702145576477},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7175868153572083},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7035585641860962},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6963149309158325},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6420218348503113},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5990548133850098},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5639225840568542},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.551750659942627},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.549488365650177},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5483924150466919},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.5332550406455994},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.489463210105896},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.489032119512558},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4482755661010742},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.41370660066604614},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3800767660140991},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34647631645202637},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24323216080665588},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18560603260993958},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1701483130455017},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2023.3306793","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3306793","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10246012.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:a9b2a232b3534bcb9bc5155da2c5e4c0","is_oa":true,"landing_page_url":"https://doaj.org/article/a9b2a232b3534bcb9bc5155da2c5e4c0","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 11, Pp 98427-98435 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3306793","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3306793","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10246012.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G238358458","display_name":null,"funder_award_id":"KEIT20012602","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"},{"id":"https://openalex.org/G5273064149","display_name":null,"funder_award_id":"KHU-20230877","funder_id":"https://openalex.org/F4320321332","funder_display_name":"Kyung Hee University"}],"funders":[{"id":"https://openalex.org/F4320321332","display_name":"Kyung Hee University","ror":"https://ror.org/01zqcg218"},{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"},{"id":"https://openalex.org/F4320334879","display_name":"Korea Evaluation Institute of Industrial Technology","ror":"https://ror.org/03z9cwa38"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4386562595.pdf","grobid_xml":"https://content.openalex.org/works/W4386562595.grobid-xml"},"referenced_works_count":18,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W1993383995","https://openalex.org/W2055201760","https://openalex.org/W2102128251","https://openalex.org/W2119403459","https://openalex.org/W2163739504","https://openalex.org/W2474124859","https://openalex.org/W2484501038","https://openalex.org/W2565125300","https://openalex.org/W2573054612","https://openalex.org/W2735610391","https://openalex.org/W2774307228","https://openalex.org/W2803045734","https://openalex.org/W2810307462","https://openalex.org/W2912551019","https://openalex.org/W2987565454","https://openalex.org/W3009257463","https://openalex.org/W3199378951"],"related_works":["https://openalex.org/W2537091977","https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W1253671258","https://openalex.org/W3134555460","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W4396731552","https://openalex.org/W2607470227","https://openalex.org/W2351331567"],"abstract_inverted_index":{"The":[0,55,78,127,170],"most":[1],"challenging":[2],"task":[3,21,138],"in":[4,82,136],"the":[5,11,34,51,59,71,86,89,102,120,130,137,150,153,157,163,167,173],"wiring":[6,52],"harness":[7,18,53],"assembly":[8],"process":[9],"is":[10,92],"placement":[12],"and":[13,45,65,74,99,106,123],"connection":[14],"of":[15,62,88,129,161,172],"cables":[16],"on":[17],"boards.":[19],"This":[20,144],"remains":[22],"difficult":[23],"to":[24,31,49,141],"automate":[25,50],"because":[26],"it":[27],"requires":[28],"dual-arm":[29,42,63],"manipulation":[30,43],"collaboratively":[32],"grasp":[33],"harnesses.":[35],"In":[36],"this":[37],"study,":[38],"we":[39],"propose":[40],"a":[41,46,110,113,133],"system":[44],"path-planning":[47,164],"framework":[48,57,79,131,175],"task.":[54],"proposed":[56,158,174],"enables":[58],"cooperative":[60],"operation":[61],"manipulator":[64],"plans":[66,116],"efficient":[67],"paths,":[68],"while":[69],"considering":[70],"kinematic":[72,121],"constraints":[73,122],"obstacle":[75,124],"avoidance":[76,125],"conditions.":[77,126],"obtains":[80],"paths":[81,117],"two":[83],"steps:":[84],"1)":[85],"configuration":[87],"robot":[90],"arms":[91],"computed":[93],"using":[94,156,180],"an":[95],"inverse":[96],"kinematics":[97],"solver;":[98],"2)":[100],"when":[101],"distance":[103],"between":[104],"obstacles":[105],"robots":[107,183],"falls":[108],"below":[109],"certain":[111],"threshold,":[112],"sampling-based":[114],"algorithm":[115,159],"that":[118],"satisfy":[119],"merits":[128],"include":[132],"significant":[134],"reduction":[135],"time":[139],"compared":[140],"existing":[142],"methods.":[143],"was":[145,176],"achieved":[146],"by":[147],"efficiently":[148],"exploring":[149],"workspace":[151],"within":[152],"constrained":[154],"conditions":[155,165],"instead":[160],"determining":[162],"throughout":[166],"entire":[168],"workspace.":[169],"effectiveness":[171],"validated":[177],"through":[178],"simulations":[179],"redundantly":[181],"actuated":[182],"with":[184],"multiple":[185],"DoF.":[186]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
