{"id":"https://openalex.org/W2967129641","doi":"https://doi.org/10.1109/icra.2019.8793725","title":"Geometric Search-Based Inverse Kinematics of 7-DoF Redundant Manipulator with Multiple Joint Offsets","display_name":"Geometric Search-Based Inverse Kinematics of 7-DoF Redundant Manipulator with Multiple Joint Offsets","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2967129641","doi":"https://doi.org/10.1109/icra.2019.8793725","mag":"2967129641"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793725","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793725","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","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/A5053236926","display_name":"Anirban Sinha","orcid":"https://orcid.org/0000-0002-7122-3549"},"institutions":[{"id":"https://openalex.org/I59553526","display_name":"Stony Brook University","ror":"https://ror.org/05qghxh33","country_code":"US","type":"education","lineage":["https://openalex.org/I59553526"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Anirban Sinha","raw_affiliation_strings":["Department of Mechanical Engineering at, Stony Brook University"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering at, Stony Brook University","institution_ids":["https://openalex.org/I59553526"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101455544","display_name":"Nilanjan Chakraborty","orcid":"https://orcid.org/0000-0003-0574-3041"},"institutions":[{"id":"https://openalex.org/I59553526","display_name":"Stony Brook University","ror":"https://ror.org/05qghxh33","country_code":"US","type":"education","lineage":["https://openalex.org/I59553526"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nilanjan Chakraborty","raw_affiliation_strings":["Department of Mechanical Engineering at, Stony Brook University"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering at, Stony Brook University","institution_ids":["https://openalex.org/I59553526"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5053236926"],"corresponding_institution_ids":["https://openalex.org/I59553526"],"apc_list":null,"apc_paid":null,"fwci":2.9937,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.91477957,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5592","last_page":"5598"},"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":0.9954000115394592,"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":0.9932000041007996,"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/inverse-kinematics","display_name":"Inverse kinematics","score":0.7468918561935425},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7418205142021179},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5849733352661133},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5840582847595215},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.48063746094703674},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4712410569190979},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36136895418167114},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31909382343292236},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26766908168792725},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25675100088119507},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19763869047164917},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15140503644943237},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11752453446388245},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.07774537801742554},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.056728214025497437}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7468918561935425},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7418205142021179},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5849733352661133},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5840582847595215},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.48063746094703674},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4712410569190979},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36136895418167114},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31909382343292236},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26766908168792725},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25675100088119507},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19763869047164917},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15140503644943237},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11752453446388245},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.07774537801742554},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.056728214025497437}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8793725","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793725","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W796041032","https://openalex.org/W1486147404","https://openalex.org/W1492098934","https://openalex.org/W1564897360","https://openalex.org/W1869418976","https://openalex.org/W1975277581","https://openalex.org/W1992518795","https://openalex.org/W2015003349","https://openalex.org/W2025939589","https://openalex.org/W2058544403","https://openalex.org/W2061741397","https://openalex.org/W2064431765","https://openalex.org/W2068994059","https://openalex.org/W2070133526","https://openalex.org/W2074174706","https://openalex.org/W2081636480","https://openalex.org/W2110333200","https://openalex.org/W2117758942","https://openalex.org/W2129644801","https://openalex.org/W2139678625","https://openalex.org/W2163555676","https://openalex.org/W2170325269","https://openalex.org/W2204069388","https://openalex.org/W2491679780","https://openalex.org/W2588974035","https://openalex.org/W2805114031","https://openalex.org/W3217246742","https://openalex.org/W6733304978"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2367567586","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W4235013387","https://openalex.org/W1996912299"],"abstract_inverted_index":{"We":[0,118,153],"propose":[1],"a":[2,46,94,113],"geometric":[3],"method":[4,35,77],"to":[5,110,122,150,167],"solve":[6],"inverse":[7,23],"kinematics":[8,25],"(IK)":[9],"problems":[10],"of":[11,40,59,90,93,116,158,189],"7-DoF":[12,127],"manipulators":[13,28,70],"with":[14,71],"joint":[15,73,104,133,191],"offsets":[16,105,134],"at":[17,135],"shoulder,":[18,136],"elbow,":[19],"and":[20,106,138,193],"wrist.":[21],"Traditionally,":[22],"position":[24],"for":[26,55,68,126,141],"redundant":[27,60,69,95,128],"are":[29,63],"solved":[30],"by":[31,87],"using":[32,84],"an":[33,162,169],"iterative":[34],"based":[36],"on":[37],"the":[38,41,50,56,91,156,173,187],"pseudo-inverse":[39],"manipulator":[42],"Jacobian.":[43],"This":[44],"provides":[45],"single":[47],"solution":[48,171],"among":[49],"infinitely":[51,174],"many":[52,175],"possible":[53,176],"solutions":[54,67,83,125],"IK":[57,66,82,99,124,147,170],"problem":[58],"manipulators.":[61],"There":[62],"no":[64],"closed-form":[65],"multiple":[72,81,103],"offsets.":[74],"Using":[75],"our":[76,120,159],"we":[78,165],"can":[79,101],"compute":[80,123,168],"two-parameter":[85],"search":[86],"exploiting":[88],"geometry":[89],"structure":[92],"manipulator.":[96],"Our":[97],"proposed":[98],"algorithm":[100,121,160],"handle":[102],"is":[107],"mathematically":[108],"simple":[109],"implement":[111],"in":[112,161,183,186],"few":[114],"lines":[115],"code.":[117],"apply":[119],"Baxter":[129],"robot":[130],"(that":[131],"has":[132,179],"wrist,":[137],"elbow":[139],"joints)":[140],"end-effector":[142,184],"configurations":[143],"where":[144,164],"existing":[145],"geometry-based":[146],"solvers":[148],"fail":[149],"find":[151],"solutions.":[152],"also":[154],"demonstrate":[155],"use":[157],"application":[163],"want":[166],"(among":[172],"solutions)":[177],"that":[178],"minimum":[180],"error":[181],"bound":[182],"position,":[185],"presence":[188],"random":[190],"actuation":[192],"sensing":[194],"uncertainties.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
