{"id":"https://openalex.org/W2038890859","doi":"https://doi.org/10.1109/icarcv.2014.7064519","title":"Dynamic non-prehensile object transportation","display_name":"Dynamic non-prehensile object transportation","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W2038890859","doi":"https://doi.org/10.1109/icarcv.2014.7064519","mag":"2038890859"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2014.7064519","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2014.7064519","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 13th International Conference on Control Automation Robotics & Vision (ICARCV)","raw_type":"proceedings-article"},"type":"article","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/A5041407289","display_name":"Puttichai Lertkultanon","orcid":"https://orcid.org/0000-0003-4079-9315"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Puttichai Lertkultanon","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","School of Mechanical and Aerospace Engineering Nanyang Technological University, Singapore#TAB#"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering Nanyang Technological University, Singapore#TAB#","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081279690","display_name":"Quang\u2010Cuong Pham","orcid":"https://orcid.org/0000-0001-9605-4940"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Quang-Cuong Pham","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","School of Mechanical and Aerospace Engineering Nanyang Technological University, Singapore#TAB#"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering Nanyang Technological University, Singapore#TAB#","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5041407289"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":1.2194,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.83071376,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1392","last_page":"1397"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9932000041007996,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/prehensile-tail","display_name":"Prehensile tail","score":0.9688589572906494},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.564942479133606},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5519883632659912},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.499218225479126},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4871189594268799},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.41066259145736694},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35968124866485596},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3507711887359619},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.34872332215309143},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33800286054611206}],"concepts":[{"id":"https://openalex.org/C136380597","wikidata":"https://www.wikidata.org/wiki/Q10508905","display_name":"Prehensile tail","level":2,"score":0.9688589572906494},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.564942479133606},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5519883632659912},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.499218225479126},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4871189594268799},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.41066259145736694},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35968124866485596},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3507711887359619},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.34872332215309143},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33800286054611206},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv.2014.7064519","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2014.7064519","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 13th International Conference on Control Automation Robotics & Vision (ICARCV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7099999785423279}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320766","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W2000359213","https://openalex.org/W2004710335","https://openalex.org/W2010778846","https://openalex.org/W2036016432","https://openalex.org/W2048820947","https://openalex.org/W2091197916","https://openalex.org/W2115091574","https://openalex.org/W2115659120","https://openalex.org/W2141664020","https://openalex.org/W2171266831","https://openalex.org/W2294982174","https://openalex.org/W3103565931","https://openalex.org/W6696773544","https://openalex.org/W6785931647","https://openalex.org/W6903373631"],"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/W2998125923","https://openalex.org/W197901881","https://openalex.org/W1551001629"],"abstract_inverted_index":{"When":[0],"possible,":[1],"non-prehensile":[2,59,149],"transportation":[3,60,150],"(i.e.":[4],"transporting":[5],"objects":[6],"without":[7],"grasping":[8],"them)":[9],"can":[10],"be":[11],"faster":[12],"and":[13,26,57,120,133,144],"more":[14,99],"efficient":[15,100],"than":[16],"prehensile":[17],"transportation.":[18],"However,":[19],"the":[20,45,72,88,94,107,117,124,148],"need":[21],"to":[22,35,70],"explicitly":[23],"consider":[24],"reaction":[25],"friction":[27],"forces":[28],"yields":[29],"kino-dynamic":[30],"constraints":[31,75],"that":[32],"are":[33],"difficult":[34],"take":[36],"into":[37,83,97],"account":[38],"by":[39],"traditional":[40],"planning":[41,142],"algorithms.":[42],"Based":[43],"on":[44,134],"recently":[46],"developed":[47],"Admissible":[48],"Velocity":[49],"Propagation":[50],"algorithm,":[51,102],"we":[52,67,92],"propose":[53],"here":[54],"a":[55,77,81,84,98,135,152],"fast":[56,143],"general":[58],"scheme.":[61],"Our":[62],"contribution":[63],"is":[64],"twofold.":[65],"First":[66],"show":[68,129],"how":[69,138],"cast":[71],"dynamic":[73,145],"balance":[74],"of":[76,106,109,151],"3D":[78],"object":[79],"(e.g.":[80],"bottle)":[82],"form":[85],"compatible":[86],"with":[87],"AVP":[89],"algorithm.":[90],"Second,":[91],"extend":[93],"AVP-RRT":[95],"algorithm":[96,140],"AVP-biRRT":[101],"which":[103],"makes":[104],"use":[105],"idea":[108],"concurrently":[110],"growing":[111],"two":[112],"trees,":[113],"one":[114,121],"rooted":[115,122],"at":[116,123],"starting":[118],"configuration":[119],"goal":[125],"configuration.":[126],"We":[127],"also":[128],"both":[130],"in":[131],"simulations":[132],"real":[136],"robot":[137],"our":[139],"allows":[141],"trajectories":[146],"for":[147],"bottle.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}