{"id":"https://openalex.org/W3090462889","doi":"https://doi.org/10.1109/icra40945.2020.9196759","title":"Collision Avoidance with Proximity Servoing for Redundant Serial Robot Manipulators","display_name":"Collision Avoidance with Proximity Servoing for Redundant Serial Robot Manipulators","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090462889","doi":"https://doi.org/10.1109/icra40945.2020.9196759","mag":"3090462889"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196759","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 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/A5067207198","display_name":"Yitao Ding","orcid":null},"institutions":[{"id":"https://openalex.org/I2610724","display_name":"Chemnitz University of Technology","ror":"https://ror.org/00a208s56","country_code":"DE","type":"education","lineage":["https://openalex.org/I2610724"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Yitao Ding","raw_affiliation_strings":["Lab of Robotics and Human Machine-Interaction, Chemnitz University of Technology, Chemnitz, SN, Germany"],"affiliations":[{"raw_affiliation_string":"Lab of Robotics and Human Machine-Interaction, Chemnitz University of Technology, Chemnitz, SN, Germany","institution_ids":["https://openalex.org/I2610724"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102866538","display_name":"Ulrike Thomas","orcid":"https://orcid.org/0000-0003-3211-4208"},"institutions":[{"id":"https://openalex.org/I2610724","display_name":"Chemnitz University of Technology","ror":"https://ror.org/00a208s56","country_code":"DE","type":"education","lineage":["https://openalex.org/I2610724"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ulrike Thomas","raw_affiliation_strings":["Lab of Robotics and Human Machine-Interaction, Chemnitz University of Technology, Chemnitz, SN, Germany"],"affiliations":[{"raw_affiliation_string":"Lab of Robotics and Human Machine-Interaction, Chemnitz University of Technology, Chemnitz, SN, Germany","institution_ids":["https://openalex.org/I2610724"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5067207198"],"corresponding_institution_ids":["https://openalex.org/I2610724"],"apc_list":null,"apc_paid":null,"fwci":2.9423,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.91174296,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"10249","last_page":"10255"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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/T10653","display_name":"Robot Manipulation and Learning","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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9986000061035156,"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":0.9973000288009644,"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/collision-avoidance","display_name":"Collision avoidance","score":0.8523223996162415},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7135741114616394},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6902610659599304},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.6324120759963989},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5421929359436035},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5413095951080322},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5323581695556641},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.445056289434433},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.391876757144928},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3696081340312958},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.272907018661499},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22239288687705994}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8523223996162415},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7135741114616394},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6902610659599304},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.6324120759963989},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5421929359436035},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5413095951080322},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5323581695556641},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.445056289434433},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.391876757144928},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3696081340312958},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.272907018661499},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22239288687705994},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9196759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196759","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1953185517","https://openalex.org/W1997696996","https://openalex.org/W2015003349","https://openalex.org/W2040329973","https://openalex.org/W2061369443","https://openalex.org/W2077281874","https://openalex.org/W2082511574","https://openalex.org/W2097373108","https://openalex.org/W2147163394","https://openalex.org/W2151934550","https://openalex.org/W2171025682","https://openalex.org/W2559539034","https://openalex.org/W2562279995","https://openalex.org/W2908579756","https://openalex.org/W2908848276","https://openalex.org/W2910499561","https://openalex.org/W3003971233"],"related_works":["https://openalex.org/W2015961810","https://openalex.org/W2166518498","https://openalex.org/W2123582700","https://openalex.org/W2353323220","https://openalex.org/W2980449234","https://openalex.org/W3197076343","https://openalex.org/W4315782950","https://openalex.org/W2151698195","https://openalex.org/W2092543616","https://openalex.org/W1969662336"],"abstract_inverted_index":{"Collision":[0],"avoidance":[1,38,61],"is":[2],"a":[3,69],"key":[4],"technology":[5],"towards":[6],"safe":[7],"human-robot":[8],"interaction,":[9],"especially":[10],"on-line":[11],"and":[12,33,96,132,150,176,189],"fastreacting":[13],"motions":[14,49,98,107],"are":[15],"required.":[16],"Skins":[17],"with":[18,73,105,174,183],"proximity":[19,64],"sensors":[20],"mounted":[21],"on":[22,177],"the":[23,91,108,124,129,157,163,169],"robot's":[24],"outer":[25],"shell":[26],"provide":[27],"an":[28,58,144],"interesting":[29],"approach":[30,92,119],"to":[31,76,83,94,116,127],"occlusion-free":[32],"low-latency":[34],"perception.":[35],"However,":[36],"collision":[37,60],"algorithms":[39],"which":[40],"make":[41],"extensive":[42],"use":[43],"of":[44,123,171],"these":[45],"properties":[46],"for":[47,63,147,156],"fast-reacting":[48],"have":[50],"not":[51],"yet":[52],"been":[53],"fully":[54],"investigated.":[55],"We":[56,167],"present":[57],"improved":[59],"algorithm":[62,89],"sensing":[65],"skins":[66],"by":[67],"formulating":[68],"quadratic":[70],"optimization":[71],"problem":[72],"inequality":[74],"constraints":[75],"compute":[77],"instantaneous":[78],"optimal":[79],"joint":[80],"velocities.":[81],"Compared":[82],"common":[84],"repulsive":[85,106,186],"force":[86,187],"methods,":[87],"our":[88,118,141,172,190],"confines":[90],"velocity":[93],"obstacles":[95,102,149,155],"keeps":[97],"pointing":[99],"away":[100],"from":[101],"unrestricted.":[103],"Since":[104],"robot":[109,179],"only":[110],"moves":[111],"in":[112,137,181],"one":[113],"direction,":[114],"opposite":[115],"obstacles,":[117],"has":[120],"better":[121],"exploitation":[122],"redundancy":[125],"space":[126],"maintain":[128],"task":[130],"motion":[131],"gets":[133],"stuck":[134],"less":[135],"likely":[136],"local":[138],"minima.":[139],"Furthermore,":[140],"method":[142,173],"incorporates":[143],"active":[145],"behaviour":[146],"avoiding":[148],"evaluates":[151],"all":[152],"potentially":[153],"colliding":[154],"whole":[158],"arm,":[159],"rather":[160],"than":[161],"just":[162],"single":[164],"nearest":[165],"obstacle.":[166],"demonstrate":[168],"effectiveness":[170],"simulations":[175],"real":[178],"manipulators":[180],"comparison":[182],"commonly":[184],"used":[185],"methods":[188],"prior":[191],"proposed":[192],"approach.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":8}],"updated_date":"2026-02-12T06:13:03.167441","created_date":"2025-10-10T00:00:00"}