{"id":"https://openalex.org/W2584570282","doi":"https://doi.org/10.1109/icinfa.2016.7832004","title":"Configuration-independent kinematics for modular mobile manipulators","display_name":"Configuration-independent kinematics for modular mobile manipulators","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2584570282","doi":"https://doi.org/10.1109/icinfa.2016.7832004","mag":"2584570282"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2016.7832004","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2016.7832004","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Information and Automation (ICIA)","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/A5100635296","display_name":"Yongchao Wang","orcid":"https://orcid.org/0000-0002-2539-8997"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]},{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yongchao Wang","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University","Chinese Academy of Sciences, Ningbo Institute of Materials Technology and Engineering"],"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Ningbo Institute of Materials Technology and Engineering","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018655903","display_name":"Guilin Yang","orcid":"https://orcid.org/0000-0001-6144-3401"},"institutions":[{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guilin Yang","raw_affiliation_strings":["Zhejiang Key Laboratory of Robotics and Intelligent Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences","Chinese Academy of Sciences, Ningbo Institute of Materials Technology and Engineering"],"affiliations":[{"raw_affiliation_string":"Zhejiang Key Laboratory of Robotics and Intelligent Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Ningbo Institute of Materials Technology and Engineering","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100601806","display_name":"Liang Liu","orcid":"https://orcid.org/0000-0002-4764-0174"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Liu","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University"],"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University","institution_ids":["https://openalex.org/I113940042"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100635296"],"corresponding_institution_ids":["https://openalex.org/I113940042","https://openalex.org/I19820366","https://openalex.org/I4210165339"],"apc_list":null,"apc_paid":null,"fwci":0.5346,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.72153234,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1212","last_page":"1217"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9976000189781189,"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":0.9958000183105469,"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/kinematics","display_name":"Kinematics","score":0.8250113725662231},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7677041292190552},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6572407484054565},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.47099751234054565},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.4497036933898926},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.42022013664245605},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3853504955768585},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3454064726829529},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.25671863555908203},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2111160159111023},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20272314548492432},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.1660001575946808},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.14087873697280884},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.074005126953125}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8250113725662231},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7677041292190552},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6572407484054565},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.47099751234054565},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.4497036933898926},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42022013664245605},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3853504955768585},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3454064726829529},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25671863555908203},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2111160159111023},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20272314548492432},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.1660001575946808},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.14087873697280884},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.074005126953125},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icinfa.2016.7832004","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2016.7832004","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Information and Automation (ICIA)","raw_type":"proceedings-article"},{"id":"pmh:oai:ir.nimte.ac.cn/:174433/16222","is_oa":false,"landing_page_url":"http://ir.nimte.ac.cn/handle/174433/16222","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"\u4f1a\u8bae\u8bba\u6587"},{"id":"pmh:oai:ir.nimte.ac.cn/:174433/23415","is_oa":false,"landing_page_url":"http://ir.nimte.ac.cn/handle/174433/23415","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"\u4f1a\u8bae\u8bba\u6587"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W3101568","https://openalex.org/W165877761","https://openalex.org/W1564897360","https://openalex.org/W1974630075","https://openalex.org/W2039868611","https://openalex.org/W2050739695","https://openalex.org/W2134370923","https://openalex.org/W2142233024","https://openalex.org/W2164977917","https://openalex.org/W2590307219","https://openalex.org/W6680871188","https://openalex.org/W6734167670"],"related_works":["https://openalex.org/W2720417647","https://openalex.org/W4225163935","https://openalex.org/W86933508","https://openalex.org/W2765089336","https://openalex.org/W2663455904","https://openalex.org/W2313074614","https://openalex.org/W2130464959","https://openalex.org/W2166742878","https://openalex.org/W2883992449","https://openalex.org/W1942058526"],"abstract_inverted_index":{"A":[0],"modular":[1,35,58],"mobile":[2,36,59,83],"manipulator":[3,84],"system":[4],"consists":[5],"of":[6,19,30,42,45,66,69],"standardized":[7],"joint":[8],"and":[9],"wheel":[10],"modules":[11],"that":[12],"can":[13],"be":[14],"assembled":[15],"into":[16],"a":[17,47,81],"number":[18],"different":[20],"robot":[21],"configurations.":[22,61],"This":[23],"paper":[24],"mainly":[25],"focuses":[26],"on":[27,39,86],"the":[28,40,57,77],"formulation":[29],"configuration-independent":[31],"kinematics":[32],"algorithms":[33],"for":[34,80],"manipulators.":[37],"Based":[38],"design":[41],"various":[43],"types":[44],"modules,":[46],"modified":[48],"Assembly":[49],"Incidence":[50],"Matrix":[51],"(AIM)":[52],"is":[53,72],"proposed":[54],"to":[55,74],"represent":[56],"manipulators":[60],"The":[62],"local":[63],"frame":[64],"representation":[65],"POE":[67],"(Product":[68],"Exponentials)":[70],"formula":[71],"employed":[73],"automatically":[75],"generate":[76],"kinematic":[78],"models":[79],"given":[82],"based":[85],"its":[87],"AIM.":[88]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
