{"id":"https://openalex.org/W4396886524","doi":"https://doi.org/10.1109/access.2024.3400854","title":"Motion Planning of Mobile Manipulator Using Virtual Impedance Energy Field","display_name":"Motion Planning of Mobile Manipulator Using Virtual Impedance Energy Field","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4396886524","doi":"https://doi.org/10.1109/access.2024.3400854"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3400854","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3400854","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10530280.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/ielx7/6287639/6514899/10530280.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101417136","display_name":"Jung Hyun Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I124633538","display_name":"University of Seoul","ror":"https://ror.org/05en5nh73","country_code":"KR","type":"education","lineage":["https://openalex.org/I124633538"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jung Hyun Choi","raw_affiliation_strings":["Department of Mechanical and Information Engineering, University of Seoul, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-5814-2392","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Information Engineering, University of Seoul, Seoul, South Korea","institution_ids":["https://openalex.org/I124633538"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057007649","display_name":"Ui Hun Sagong","orcid":null},"institutions":[{"id":"https://openalex.org/I124633538","display_name":"University of Seoul","ror":"https://ror.org/05en5nh73","country_code":"KR","type":"education","lineage":["https://openalex.org/I124633538"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ui Hun Sagong","raw_affiliation_strings":["Department of Mechanical and Information Engineering, University of Seoul, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-1602-378X","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Information Engineering, University of Seoul, Seoul, South Korea","institution_ids":["https://openalex.org/I124633538"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102013723","display_name":"Jong Hoon Park","orcid":"https://orcid.org/0000-0002-0729-5847"},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jong Hoon Park","raw_affiliation_strings":["Robot Navigation Project, Robot Business Division, LG Electronics, Seoul, South Korea","Robot Navigation Project, Robot Business Division, LG electronics, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-0729-5847","affiliations":[{"raw_affiliation_string":"Robot Navigation Project, Robot Business Division, LG Electronics, Seoul, South Korea","institution_ids":["https://openalex.org/I4210096735"]},{"raw_affiliation_string":"Robot Navigation Project, Robot Business Division, LG electronics, Seoul, South Korea","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111195478","display_name":"Murim Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Murim Kim","raw_affiliation_strings":["Human-Centered Robotics Research and Development Division, Korea Institute of Robotics and Technology Convergence, Pohang, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-5420-9705","affiliations":[{"raw_affiliation_string":"Human-Centered Robotics Research and Development Division, Korea Institute of Robotics and Technology Convergence, Pohang, South Korea","institution_ids":["https://openalex.org/I4210096735"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055147174","display_name":"Myun Joong Hwang","orcid":"https://orcid.org/0000-0003-1272-9985"},"institutions":[{"id":"https://openalex.org/I124633538","display_name":"University of Seoul","ror":"https://ror.org/05en5nh73","country_code":"KR","type":"education","lineage":["https://openalex.org/I124633538"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Myun Joong Hwang","raw_affiliation_strings":["Department of Mechanical and Information Engineering, University of Seoul, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-1272-9985","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Information Engineering, University of Seoul, Seoul, South Korea","institution_ids":["https://openalex.org/I124633538"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101417136"],"corresponding_institution_ids":["https://openalex.org/I124633538"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.4635,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.60402513,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"12","issue":null,"first_page":"89776","last_page":"89793"},"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":0.9965000152587891,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9947999715805054,"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/mobile-manipulator","display_name":"Mobile manipulator","score":0.7974459528923035},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7233327031135559},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6465569734573364},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.6405341625213623},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6278758645057678},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5324177742004395},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5062281489372253},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5016622543334961},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.49536454677581787},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4575783610343933},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4331362247467041},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37046048045158386},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36182838678359985},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3506739139556885},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.060674071311950684},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.055156171321868896}],"concepts":[{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.7974459528923035},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7233327031135559},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6465569734573364},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.6405341625213623},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6278758645057678},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5324177742004395},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5062281489372253},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5016622543334961},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.49536454677581787},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4575783610343933},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4331362247467041},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37046048045158386},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36182838678359985},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3506739139556885},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.060674071311950684},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.055156171321868896},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3400854","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3400854","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10530280.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:c8e6eb3ac66846fbaa288e855b5b5099","is_oa":true,"landing_page_url":"https://doaj.org/article/c8e6eb3ac66846fbaa288e855b5b5099","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 12, Pp 89776-89793 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3400854","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3400854","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10530280.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":[{"score":0.7699999809265137,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321346","display_name":"University of Seoul","ror":"https://ror.org/05en5nh73"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4396886524.pdf"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W1967377907","https://openalex.org/W1978239298","https://openalex.org/W2019832409","https://openalex.org/W2089331517","https://openalex.org/W2099889068","https://openalex.org/W2117211893","https://openalex.org/W2118897212","https://openalex.org/W2119527179","https://openalex.org/W2125503755","https://openalex.org/W2160840466","https://openalex.org/W2739204784","https://openalex.org/W2883344485","https://openalex.org/W2954060474","https://openalex.org/W2993398084","https://openalex.org/W3005451807","https://openalex.org/W3042275200","https://openalex.org/W3167357599","https://openalex.org/W3197704885","https://openalex.org/W4210613326","https://openalex.org/W4247744289","https://openalex.org/W6674685652"],"related_works":["https://openalex.org/W4249701897","https://openalex.org/W2147558862","https://openalex.org/W71119328","https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W3119736302","https://openalex.org/W3200041777","https://openalex.org/W4398198385","https://openalex.org/W4386597929","https://openalex.org/W2292212348"],"abstract_inverted_index":{"Motion":[0],"planning":[1,21,40],"for":[2,18,100,115],"mobile":[3,24,34,71,94,101,209,222,237],"manipulators":[4],"is":[5,26,89,120],"challenging":[6],"because":[7],"of":[8,12,22,32,77,143,181,197,207,215,220],"their":[9],"high":[10],"degrees":[11],"freedom.":[13],"The":[14],"most":[15],"effective":[16],"approach":[17],"the":[19,29,66,70,75,78,122,131,140,144,149,154,163,172,179,198,203,208,216,221,228,232,236,243],"motion":[20,117,183],"a":[23,33,37,47,61,112,169,240],"manipulator":[25,38,229],"to":[27,73,92,130],"consider":[28],"different":[30,50],"characteristics":[31,51],"robot":[35,72,210,238],"and":[36,41,133,165,194,211,218,245],"while":[39,235],"controlling":[42],"each":[43],"system":[44],"separately.":[45],"In":[46],"previous":[48,145],"study,":[49],"were":[52],"considered":[53],"using":[54,166],"virtual":[55,62,123,150],"impedance.":[56],"This":[57],"method":[58,88],"involves":[59],"forming":[60],"impedance":[63,124,151],"relationship":[64],"between":[65],"two":[67],"subsystems,":[68],"enabling":[69],"track":[74],"movement":[76],"manipulator.":[79],"However,":[80],"this":[81,87],"study":[82,146],"had":[83],"certain":[84],"limitations.":[85],"Firstly,":[86],"not":[90,104],"applicable":[91],"non-holonomic":[93],"robots.":[95],"Secondly,":[96],"obstacle":[97,160],"avoidance":[98],"methods":[99],"robots":[102],"are":[103],"considered.":[105],"To":[106,177],"address":[107],"these":[108],"limitations,":[109],"we":[110,185],"propose":[111],"novel":[113],"concept":[114],"our":[116,182],"planner":[118],"that":[119,227],"called":[121],"energy":[125],"field":[126,161],"(VIEF),":[127],"which":[128],"refers":[129],"work":[132],"change":[134,205],"in":[135,188],"total":[136],"energy.":[137],"We":[138,200,224],"solved":[139],"first":[141],"limitation":[142,174],"by":[147,157],"transforming":[148],"force":[152],"into":[153],"VIEF.":[155],"Moreover,":[156],"integrating":[158],"an":[159],"with":[162,192],"VIEF":[164],"it":[167],"as":[168],"local":[170],"costmap,":[171],"second":[173],"was":[175],"addressed.":[176],"validate":[178],"performance":[180],"planner,":[184],"conducted":[186],"simulations":[187],"environments":[189],"comprising":[190],"obstacles,":[191],"straight":[193],"curved":[195],"trajectories":[196],"end-effector.":[199],"then":[201],"analyzed":[202],"pose":[204,213],"graph":[206],"end-effector,":[212,217],"error":[214],"velocity":[219],"robot.":[223],"therefore":[225],"confirmed":[226],"successfully":[230],"followed":[231],"desired":[233],"trajectory,":[234],"maintained":[239],"distance":[241],"from":[242],"end-effector":[244],"avoided":[246],"obstacles.":[247]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}