{"id":"https://openalex.org/W2752622049","doi":"https://doi.org/10.1109/aim.2017.8014249","title":"RRT-based motion planning with sampling in Redundancy space for robots with anthropomorphic arms","display_name":"RRT-based motion planning with sampling in Redundancy space for robots with anthropomorphic arms","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2752622049","doi":"https://doi.org/10.1109/aim.2017.8014249","mag":"2752622049"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2017.8014249","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014249","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5062135561","display_name":"Cheng Fang","orcid":"https://orcid.org/0000-0002-8535-3774"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Cheng Fang","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017250304","display_name":"Jinoh Lee","orcid":"https://orcid.org/0000-0002-4901-7095"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Jinoh Lee","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070028115","display_name":"Arash Ajoudani","orcid":"https://orcid.org/0000-0002-1261-737X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arash Ajoudani","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026845307","display_name":"Chengxu Zhou","orcid":"https://orcid.org/0000-0002-6677-0855"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Chengxu Zhou","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos G. Tsagarakis","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"7","issue":null,"first_page":"1612","last_page":"1618"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6872416734695435},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6824162602424622},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.622619092464447},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5850886702537537},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5696518421173096},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5549997687339783},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5368936657905579},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.528028130531311},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.5142242908477783},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5090333819389343},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.49782896041870117},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4803244173526764},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4200356602668762},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20653200149536133}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6872416734695435},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6824162602424622},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.622619092464447},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5850886702537537},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5696518421173096},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5549997687339783},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5368936657905579},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.528028130531311},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.5142242908477783},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5090333819389343},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.49782896041870117},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4803244173526764},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4200356602668762},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20653200149536133},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2017.8014249","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014249","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7799999713897705,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1516985956","https://openalex.org/W1564897360","https://openalex.org/W1581095231","https://openalex.org/W1777783943","https://openalex.org/W1971759479","https://openalex.org/W2040316168","https://openalex.org/W2042913147","https://openalex.org/W2049617391","https://openalex.org/W2065261714","https://openalex.org/W2105314797","https://openalex.org/W2118897212","https://openalex.org/W2122827816","https://openalex.org/W2126386176","https://openalex.org/W2134447392","https://openalex.org/W2139385051","https://openalex.org/W2141664020","https://openalex.org/W2153628631","https://openalex.org/W2159857204","https://openalex.org/W2163157475","https://openalex.org/W2171471202","https://openalex.org/W2319591269","https://openalex.org/W2561867167","https://openalex.org/W3088063282","https://openalex.org/W7071066456"],"related_works":["https://openalex.org/W2962851396","https://openalex.org/W2786331404","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"],"abstract_inverted_index":{"This":[0],"work":[1],"proposes":[2],"a":[3,60,72,83,124,208,216,229],"novel":[4],"RRT-based":[5],"motion":[6],"planning":[7],"method":[8,227],"for":[9,22,29],"robotic":[10,51],"systems":[11],"equipped":[12,74],"with":[13,37,45,64,75,136,172],"redundant":[14,61],"anthropomorphic":[15,62,77],"arms.":[16],"A":[17],"characteristic":[18],"Redundancy":[19],"space":[20,70,85,93,162],"(ReRRT)":[21],"this":[23],"type":[24],"of":[25,40,59,71,87,102,114,198,206,224],"robots":[26],"is":[27,79,94,150,192,213],"proposed":[28,190,226],"sampling":[30,129],"at":[31,120],"the":[32,38,56,67,76,88,99,103,106,110,115,121,137,155,159,189,196,199,211,222,225],"position":[33,111],"level":[34],"to":[35,81,152,158,186,194,220],"deal":[36],"problem":[39],"Task-Constrained":[41],"Motion":[42],"Planning":[43],"(TCMP)":[44],"other":[46],"multiple":[47],"constraints":[48],"in":[49,228],"realistic":[50,231],"manipulation":[52],"applications.":[53],"Based":[54],"on":[55,210,215],"geometric":[57],"feature":[58],"arm":[63,78,104,116],"seven":[65],"DOFs,":[66],"whole":[68],"configuration":[69,139,161],"robot":[73,218],"decoupled":[80],"extract":[82],"redundancy":[84,92],"independent":[86],"task":[89,205,232],"space.":[90],"The":[91],"defined":[95],"and":[96,105,112,170,178],"spanned":[97],"by":[98],"swivel":[100],"angle":[101],"variables":[107],"which":[108,131],"control":[109],"orientation":[113],"base":[117],"frame":[118],"located":[119],"shoulder.":[122],"As":[123],"result,":[125],"an":[126,203],"explicitly":[127],"intuitive":[128],"space,":[130,140],"has":[132],"one-to-one":[133],"mapping":[134],"relationship":[135],"task-constrained":[138,160],"can":[141],"be":[142],"found.":[143],"One":[144],"dedicated":[145],"Inverse":[146],"Kinematics":[147],"(IK)":[148],"algorithm":[149],"developed":[151],"directly":[153],"map":[154],"samples":[156],"back":[157],"without":[163],"iterative":[164],"modifications.":[165],"Simulation":[166],"studies":[167],"were":[168],"performed":[169,214],"comparisons":[171],"traditional":[173],"Gradient":[174],"Projection":[175],"Method":[176],"(GPM)":[177],"Rapidly":[179],"exploring":[180],"Random":[181],"Tree":[182],"(RRT)":[183],"are":[184],"drawn":[185],"illustrate":[187],"that":[188],"ReRRT":[191],"able":[193],"combine":[195],"advantages":[197],"two":[200],"methods.":[201],"Finally,":[202],"experimental":[204],"putting":[207],"cup":[209],"table":[212],"humanoid":[217],"COMAN":[219],"demonstrate":[221],"effectiveness":[223],"more":[230],"scenario.":[233]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
