{"id":"https://openalex.org/W4409076724","doi":"https://doi.org/10.1109/access.2025.3556010","title":"Trajectory Optimization for Non-Prehensile Manipulation of Space Robots","display_name":"Trajectory Optimization for Non-Prehensile Manipulation of Space Robots","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4409076724","doi":"https://doi.org/10.1109/access.2025.3556010"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3556010","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3556010","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.2025.3556010","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100369803","display_name":"Chen Li","orcid":"https://orcid.org/0000-0002-0626-0052"},"institutions":[{"id":"https://openalex.org/I4210088176","display_name":"North West Agriculture and Forestry University","ror":null,"country_code":"CN","type":null,"lineage":["https://openalex.org/I4210088176"]},{"id":"https://openalex.org/I89652312","display_name":"Northwest A&F University","ror":"https://ror.org/0051rme32","country_code":"CN","type":"education","lineage":["https://openalex.org/I89652312"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Li","raw_affiliation_strings":["College of Mechanical and Electronic Engineering, Northwest A&F University, Yangling, Xianyang, China","College of Mechanical and Electronic Engineering, Northwest AF University, Yangling, China"],"raw_orcid":"https://orcid.org/0000-0002-0626-0052","affiliations":[{"raw_affiliation_string":"College of Mechanical and Electronic Engineering, Northwest A&F University, Yangling, Xianyang, China","institution_ids":["https://openalex.org/I4210088176"]},{"raw_affiliation_string":"College of Mechanical and Electronic Engineering, Northwest AF University, Yangling, China","institution_ids":["https://openalex.org/I89652312"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025733800","display_name":"Yayun Wu","orcid":"https://orcid.org/0000-0002-5735-8156"},"institutions":[{"id":"https://openalex.org/I4210088244","display_name":"Shanghai Micro Satellite Engineering Center","ror":"https://ror.org/003cp7918","country_code":"CN","type":"nonprofit","lineage":["https://openalex.org/I4210088244"]},{"id":"https://openalex.org/I4210153230","display_name":"Shanghai Academy of Spaceflight Technology","ror":"https://ror.org/050qhwt21","country_code":"CN","type":"government","lineage":["https://openalex.org/I2802615301","https://openalex.org/I4210153230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yayun Wu","raw_affiliation_strings":["Shanghai Institute of Satellite Engineering, Minhang, Shanghai, China","Shanghai Institute of Satellite Engineering, No. 3666 Yuanjiang Road, Minhang District, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Institute of Satellite Engineering, Minhang, Shanghai, China","institution_ids":["https://openalex.org/I4210088244","https://openalex.org/I4210153230"]},{"raw_affiliation_string":"Shanghai Institute of Satellite Engineering, No. 3666 Yuanjiang Road, Minhang District, Shanghai, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020673582","display_name":"Zixuan Zheng","orcid":"https://orcid.org/0000-0002-2132-6478"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zixuan Zheng","raw_affiliation_strings":["School of Astronautics, Northwestern Polytechnical University, Xi’an, China"],"raw_orcid":"https://orcid.org/0000-0002-2132-6478","affiliations":[{"raw_affiliation_string":"School of Astronautics, Northwestern Polytechnical University, Xi’an, China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"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":13.4502,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.97984841,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"13","issue":null,"first_page":"61793","last_page":"61804"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11701","display_name":"Space Satellite Systems and Control","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9930999875068665,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10406","display_name":"Planetary Science and Exploration","score":0.9690999984741211,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/prehensile-tail","display_name":"Prehensile tail","score":0.9319965839385986},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6992688775062561},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.692411482334137},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6307177543640137},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5279799103736877},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4448629319667816},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3773239850997925},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3278179168701172},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10611355304718018},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.08403843641281128}],"concepts":[{"id":"https://openalex.org/C136380597","wikidata":"https://www.wikidata.org/wiki/Q10508905","display_name":"Prehensile tail","level":2,"score":0.9319965839385986},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6992688775062561},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.692411482334137},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6307177543640137},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5279799103736877},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4448629319667816},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3773239850997925},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3278179168701172},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10611355304718018},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.08403843641281128},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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:10.1109/access.2025.3556010","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3556010","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:08e0c9b95bcd4a27967e2dbea82a9600","is_oa":true,"landing_page_url":"https://doaj.org/article/08e0c9b95bcd4a27967e2dbea82a9600","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 13, Pp 61793-61804 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3556010","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3556010","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":[{"id":"https://openalex.org/G2027254890","display_name":null,"funder_award_id":"MCAS-E-0225K01","funder_id":"https://openalex.org/F4320327014","funder_display_name":"State Key Laboratory of Mechanics and Control of Mechanical Structures"},{"id":"https://openalex.org/G3559813324","display_name":null,"funder_award_id":"2452023057","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320327014","display_name":"State Key Laboratory of Mechanics and Control of Mechanical Structures","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1970101292","https://openalex.org/W1982023139","https://openalex.org/W2013467411","https://openalex.org/W2042408133","https://openalex.org/W2071307076","https://openalex.org/W2090308161","https://openalex.org/W2101340954","https://openalex.org/W2110194613","https://openalex.org/W2162218551","https://openalex.org/W2176715885","https://openalex.org/W2183718093","https://openalex.org/W2732249944","https://openalex.org/W2756822591","https://openalex.org/W2767578104","https://openalex.org/W2789539638","https://openalex.org/W2793049540","https://openalex.org/W2885372124","https://openalex.org/W2925015475","https://openalex.org/W2944972179","https://openalex.org/W2948006282","https://openalex.org/W2972095405","https://openalex.org/W2999935143","https://openalex.org/W3011882661","https://openalex.org/W3030872000","https://openalex.org/W3101027986","https://openalex.org/W3119707211","https://openalex.org/W3173743841","https://openalex.org/W3185438435","https://openalex.org/W4200548199","https://openalex.org/W4214747265","https://openalex.org/W4220764169","https://openalex.org/W4294121158","https://openalex.org/W4313531660","https://openalex.org/W4319237631","https://openalex.org/W4362574974","https://openalex.org/W4379113823","https://openalex.org/W4401023274"],"related_works":["https://openalex.org/W2465876097","https://openalex.org/W2028231052","https://openalex.org/W2768832826","https://openalex.org/W3166169123","https://openalex.org/W2010045274","https://openalex.org/W2552641899","https://openalex.org/W2105329304","https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2148088326"],"abstract_inverted_index":{"The":[0,76,117],"increasing":[1],"demand":[2],"for":[3,22,31,44,73,98],"on-orbit":[4],"servicing":[5],"tasks":[6,131],"has":[7],"driven":[8],"advancements":[9],"in":[10,47,62],"space":[11,105],"robotics.":[12],"Traditional":[13],"capture-based":[14],"manipulation":[15,37],"methods":[16],"are":[17],"limited":[18],"by":[19],"the":[20,51,112,120],"need":[21],"customized":[23],"grasping":[24],"mechanisms":[25],"and":[26,88,115,126],"target-specific":[27],"designs,":[28],"reducing":[29],"adaptability":[30],"uncooperative":[32],"or":[33],"docking-less":[34],"targets.":[35],"Non-prehensile":[36],"through":[38],"contact":[39,54],"offers":[40],"a":[41,68,83,103,108],"promising":[42],"alternative":[43],"OOS,":[45],"especially":[46],"low-gravity":[48],"environments.":[49],"However,":[50],"complexity":[52],"of":[53],"interactions":[55],"have":[56],"posed":[57],"significant":[58],"challenges":[59],"to":[60,94,122],"progress":[61],"this":[63],"area.":[64],"This":[65],"paper":[66],"proposes":[67],"mode-invariant":[69],"trajectory":[70,85],"optimization":[71,86],"method":[72],"non-prehensile":[74,99],"manipulation.":[75],"proposed":[77],"approach":[78],"combines":[79],"complementarity":[80],"constraints":[81],"with":[82],"direct":[84],"framework":[87],"employs":[89],"sequential":[90],"quadratic":[91],"programming":[92],"solvers":[93],"generate":[95],"contact-aware":[96],"trajectories":[97],"manipulations.":[100],"Simulations":[101],"involving":[102],"7-degree-of-freedom":[104],"robot":[106],"reorienting":[107],"target":[109],"object":[110],"demonstrate":[111],"method\u2019s":[113],"feasibility":[114],"effectiveness.":[116],"results":[118],"show":[119],"capability":[121],"produce":[123],"physically":[124],"realistic":[125],"efficient":[127],"trajectories,":[128],"enabling":[129],"complex":[130],"without":[132],"relying":[133],"on":[134],"capturing":[135],"mechanisms.":[136]},"counts_by_year":[{"year":2026,"cited_by_count":4}],"updated_date":"2025-12-28T23:10:05.387466","created_date":"2025-10-10T00:00:00"}