{"id":"https://openalex.org/W4399939047","doi":"https://doi.org/10.1109/access.2024.3418206","title":"Variable Step Sizes for Iterative Jacobian-Based Inverse Kinematics of Robotic Manipulators","display_name":"Variable Step Sizes for Iterative Jacobian-Based Inverse Kinematics of Robotic Manipulators","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4399939047","doi":"https://doi.org/10.1109/access.2024.3418206"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3418206","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3418206","pdf_url":null,"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://doi.org/10.1109/access.2024.3418206","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081397540","display_name":"Jacinto Colan","orcid":"https://orcid.org/0000-0002-8833-2215"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jacinto Colan","raw_affiliation_strings":["Department of Micro-Nano Mechanical Science and Engineering, Nagoya University, Nagoya, Japan"],"raw_orcid":"https://orcid.org/0000-0002-8833-2215","affiliations":[{"raw_affiliation_string":"Department of Micro-Nano Mechanical Science and Engineering, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046731206","display_name":"Ana Davila","orcid":"https://orcid.org/0000-0002-2076-6842"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ana Davila","raw_affiliation_strings":["Institutes of Innovation for Future Society, Nagoya University, Nagoya, Japan"],"raw_orcid":"https://orcid.org/0000-0002-2076-6842","affiliations":[{"raw_affiliation_string":"Institutes of Innovation for Future Society, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067104092","display_name":"Yasuhisa Hasegawa","orcid":"https://orcid.org/0000-0001-9917-098X"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuhisa Hasegawa","raw_affiliation_strings":["Institutes of Innovation for Future Society, Nagoya University, Nagoya, Japan"],"raw_orcid":"https://orcid.org/0000-0001-9917-098X","affiliations":[{"raw_affiliation_string":"Institutes of Innovation for Future Society, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I60134161"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":3.9774,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.94124864,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"12","issue":null,"first_page":"87909","last_page":"87922"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9976999759674072,"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":0.9955000281333923,"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/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.778596043586731},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.7610725164413452},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7081404328346252},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.6635839939117432},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5655494928359985},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5620182752609253},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5607321262359619},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5401650071144104},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.48244935274124146},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4636934995651245},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31266093254089355},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3071801960468292},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2950611114501953},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.27097654342651367},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.17263364791870117},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10022920370101929},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.09186670184135437},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08395284414291382},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07691895961761475},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06571498513221741}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.778596043586731},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7610725164413452},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7081404328346252},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.6635839939117432},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5655494928359985},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5620182752609253},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5607321262359619},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5401650071144104},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.48244935274124146},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4636934995651245},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31266093254089355},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3071801960468292},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2950611114501953},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.27097654342651367},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.17263364791870117},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10022920370101929},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.09186670184135437},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08395284414291382},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07691895961761475},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06571498513221741},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3418206","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3418206","pdf_url":null,"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:f437234ba09a42f8a7f082333b1153cc","is_oa":true,"landing_page_url":"https://doaj.org/article/f437234ba09a42f8a7f082333b1153cc","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 87909-87922 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3418206","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3418206","pdf_url":null,"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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":64,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W173320072","https://openalex.org/W1510918013","https://openalex.org/W1530695493","https://openalex.org/W1560270123","https://openalex.org/W1969811075","https://openalex.org/W1992579504","https://openalex.org/W2004461831","https://openalex.org/W2024372894","https://openalex.org/W2030161963","https://openalex.org/W2030310576","https://openalex.org/W2030727116","https://openalex.org/W2037841262","https://openalex.org/W2057134777","https://openalex.org/W2058334894","https://openalex.org/W2058544403","https://openalex.org/W2068484625","https://openalex.org/W2076605490","https://openalex.org/W2087070363","https://openalex.org/W2100790457","https://openalex.org/W2109062572","https://openalex.org/W2123859926","https://openalex.org/W2138233825","https://openalex.org/W2139691007","https://openalex.org/W2140163944","https://openalex.org/W2150116987","https://openalex.org/W2168224515","https://openalex.org/W2205340216","https://openalex.org/W2326893138","https://openalex.org/W2767809233","https://openalex.org/W2889450890","https://openalex.org/W2906487027","https://openalex.org/W2927839199","https://openalex.org/W2970028551","https://openalex.org/W3015356355","https://openalex.org/W3023742365","https://openalex.org/W3031257559","https://openalex.org/W3083378728","https://openalex.org/W3109778264","https://openalex.org/W3126991459","https://openalex.org/W3163478863","https://openalex.org/W3216302575","https://openalex.org/W4206742934","https://openalex.org/W4287117439","https://openalex.org/W4289145348","https://openalex.org/W4307079438","https://openalex.org/W4316021935","https://openalex.org/W4353072316","https://openalex.org/W4365211469","https://openalex.org/W4386183580","https://openalex.org/W4386794469","https://openalex.org/W4389918662","https://openalex.org/W4393851611","https://openalex.org/W4396542839","https://openalex.org/W4400786902","https://openalex.org/W6756279856","https://openalex.org/W6761304574","https://openalex.org/W6762875675","https://openalex.org/W6796812895","https://openalex.org/W6846500109","https://openalex.org/W6851916856","https://openalex.org/W6855228343","https://openalex.org/W6856266719","https://openalex.org/W6903373631"],"related_works":["https://openalex.org/W2115240519","https://openalex.org/W4239085902","https://openalex.org/W2080642692","https://openalex.org/W2039927751","https://openalex.org/W2744818472","https://openalex.org/W2165977608","https://openalex.org/W2970937359","https://openalex.org/W1253671258","https://openalex.org/W3134555460","https://openalex.org/W4283266117"],"abstract_inverted_index":{"This":[0],"study":[1],"evaluates":[2],"the":[3,75,112,127],"impact":[4],"of":[5,77,114,129],"step":[6,20,44,83,102,122],"size":[7,21,45,123],"selection":[8],"on":[9,65],"Jacobian-based":[10,130],"inverse":[11],"kinematics":[12],"(IK)":[13],"for":[14,133],"robotic":[15,134],"manipulators.":[16],"Although":[17],"traditional":[18],"constant":[19,101],"approaches":[22],"offer":[23],"simplicity,":[24],"they":[25],"often":[26],"exhibit":[27],"limitations":[28],"in":[29,140],"convergence":[30],"speed":[31],"and":[32,40,57,70,136],"performance.":[33],"To":[34],"address":[35],"these":[36,78],"challenges,":[37],"we":[38],"propose":[39],"evaluate":[41],"novel":[42],"variable":[43,82,121],"strategies.":[46],"Our":[47,117],"work":[48],"explores":[49],"three":[50],"approaches:":[51],"gradient-based":[52],"dynamic":[53],"selection,":[54],"cyclic":[55],"alternation,":[56],"random":[58,105],"sampling":[59],"techniques.":[60],"We":[61],"conducted":[62],"extensive":[63],"experiments":[64],"various":[66],"manipulator":[67],"kinematic":[68],"chains":[69],"IK":[71,131],"algorithms":[72],"to":[73,100],"demonstrate":[74],"benefits":[76],"approaches.":[79],"In":[80],"particular,":[81],"sizes":[84],"randomly":[85],"derived":[86],"from":[87],"a":[88],"normal":[89],"distribution":[90],"consistently":[91],"improve":[92,126],"solve":[93],"rates":[94],"across":[95],"all":[96],"evaluated":[97],"cases":[98],"compared":[99],"sizes.":[103],"Incorporating":[104],"restarts":[106],"further":[107],"enhances":[108],"performance,":[109],"effectively":[110],"mitigating":[111],"effect":[113],"local":[115],"minima.":[116],"results":[118],"suggest":[119],"that":[120],"strategies":[124],"can":[125],"performance":[128],"methods":[132],"manipulators":[135],"have":[137],"potential":[138],"applications":[139],"other":[141],"nonlinear":[142],"optimization":[143],"problems.":[144]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}