{"id":"https://openalex.org/W4383066306","doi":"https://doi.org/10.1109/icra48891.2023.10160891","title":"Output Mode Switching for Parallel Five-bar Manipulators Using a Graph-based Path Planner","display_name":"Output Mode Switching for Parallel Five-bar Manipulators Using a Graph-based Path Planner","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383066306","doi":"https://doi.org/10.1109/icra48891.2023.10160891"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160891","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160891","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5067776925","display_name":"Parker B. Edwards","orcid":"https://orcid.org/0000-0001-6875-5328"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Parker B. Edwards","raw_affiliation_strings":["University of Notre Dame,Department of Applied and Computational Mathematics and Statistics,Notre Dame,IN,USA,46556"],"affiliations":[{"raw_affiliation_string":"University of Notre Dame,Department of Applied and Computational Mathematics and Statistics,Notre Dame,IN,USA,46556","institution_ids":["https://openalex.org/I107639228"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048993784","display_name":"Aravind Baskar","orcid":"https://orcid.org/0000-0001-8657-4643"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aravind Baskar","raw_affiliation_strings":["University of Notre Dame,Department of Aerospace and Mechanical Engineering,Notre Dame,IN,USA,46556"],"affiliations":[{"raw_affiliation_string":"University of Notre Dame,Department of Aerospace and Mechanical Engineering,Notre Dame,IN,USA,46556","institution_ids":["https://openalex.org/I107639228"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078134666","display_name":"Caroline Hills","orcid":"https://orcid.org/0000-0003-2591-7109"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Caroline Hills","raw_affiliation_strings":["University of Notre Dame,Department of Applied and Computational Mathematics and Statistics,Notre Dame,IN,USA,46556"],"affiliations":[{"raw_affiliation_string":"University of Notre Dame,Department of Applied and Computational Mathematics and Statistics,Notre Dame,IN,USA,46556","institution_ids":["https://openalex.org/I107639228"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023490088","display_name":"Mark Plecnik","orcid":"https://orcid.org/0000-0002-8283-4273"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Plecnik","raw_affiliation_strings":["University of Notre Dame,Department of Aerospace and Mechanical Engineering,Notre Dame,IN,USA,46556"],"affiliations":[{"raw_affiliation_string":"University of Notre Dame,Department of Aerospace and Mechanical Engineering,Notre Dame,IN,USA,46556","institution_ids":["https://openalex.org/I107639228"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007214938","display_name":"Jonathan D. Hauenstein","orcid":"https://orcid.org/0000-0002-9252-8210"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan D. Hauenstein","raw_affiliation_strings":["University of Notre Dame,Department of Applied and Computational Mathematics and Statistics,Notre Dame,IN,USA,46556"],"affiliations":[{"raw_affiliation_string":"University of Notre Dame,Department of Applied and Computational Mathematics and Statistics,Notre Dame,IN,USA,46556","institution_ids":["https://openalex.org/I107639228"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5067776925"],"corresponding_institution_ids":["https://openalex.org/I107639228"],"apc_list":null,"apc_paid":null,"fwci":1.5025,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.82099213,"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":"9735","last_page":"9741"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994000196456909,"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":0.9994000196456909,"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/T11041","display_name":"Ubiquitin and proteasome pathways","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10379","display_name":"Cellular Mechanics and Interactions","score":0.9778000116348267,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.793572187423706},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.5677666664123535},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.486987441778183},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.47143569588661194},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44828781485557556},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43129175901412964},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4274940490722656},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.4189336895942688},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4070005416870117},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.22899392247200012},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22415179014205933},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10484340786933899},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08426353335380554},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.08396047353744507}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.793572187423706},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.5677666664123535},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.486987441778183},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.47143569588661194},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44828781485557556},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43129175901412964},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4274940490722656},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.4189336895942688},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4070005416870117},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.22899392247200012},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22415179014205933},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10484340786933899},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08426353335380554},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.08396047353744507},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/icra48891.2023.10160891","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160891","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","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":0.4399999976158142}],"awards":[{"id":"https://openalex.org/G8346947031","display_name":null,"funder_award_id":"CMMI-2041789,CMMI-2144732,CCF-1812746","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1516027685","https://openalex.org/W1570420806","https://openalex.org/W1965520434","https://openalex.org/W1969483458","https://openalex.org/W1973094618","https://openalex.org/W1989369020","https://openalex.org/W2009334861","https://openalex.org/W2046305987","https://openalex.org/W2053269485","https://openalex.org/W2118254039","https://openalex.org/W2123488995","https://openalex.org/W2146475250","https://openalex.org/W2163635171","https://openalex.org/W2168942108","https://openalex.org/W2266015002","https://openalex.org/W2795442970","https://openalex.org/W2801910602","https://openalex.org/W3008037146","https://openalex.org/W3008244766","https://openalex.org/W3093319086","https://openalex.org/W3139497334","https://openalex.org/W3171252885","https://openalex.org/W4213171111","https://openalex.org/W4297632059","https://openalex.org/W4312899381","https://openalex.org/W4388533850","https://openalex.org/W4399469378","https://openalex.org/W4404301753"],"related_works":["https://openalex.org/W2005695917","https://openalex.org/W4324107263","https://openalex.org/W2333571655","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W985713740"],"abstract_inverted_index":{"The":[0,71],"configuration":[1,99,130,163],"spaces":[2,24],"of":[3,25,53,68,73,88,97,105,115,168,178,213],"parallel":[4,107],"manipulators":[5,108],"exhibit":[6,43],"more":[7],"nonlinearity":[8],"than":[9],"serial":[10],"manipulators.":[11],"Qualitatively,":[12],"they":[13],"can":[14,216],"be":[15,217],"seen":[16],"to":[17,148,159,200],"possess":[18],"extra":[19],"folds.":[20],"Projection":[21],"onto":[22],"smaller":[23],"engineering":[26],"relevance,":[27],"such":[28,74],"as":[29,85],"an":[30,34,142],"output":[31,66,82,122,182,221],"workspace":[32,51,60,190,215],"or":[33,194],"input":[35,80,120],"actuator":[36],"space,":[37],"these":[38,91],"folds":[39],"cast":[40],"edges":[41],"that":[42,62,165,205],"boundary":[44],"behavior.":[45],"For":[46],"example,":[47],"inside":[48],"the":[49,69,98,103,113,129,214],"global":[50],"bounds":[52,61],"a":[54,86,133,155,184],"five-bar":[55,203],"linkage":[56],"appear":[57],"several":[58],"local":[59],"only":[63],"constrain":[64],"certain":[65],"modes":[67],"mechanism.":[70],"presence":[72,114],"boundaries,":[75],"which":[76,186],"manifest":[77],"in":[78,118],"both":[79],"and":[81,121,210],"projections,":[83],"serve":[84],"source":[87],"confusion":[89],"when":[90],"projections":[92,117],"are":[93],"studied":[94],"exclusively":[95],"instead":[96],"space":[100,131],"itself.":[101],"Particularly,":[102],"design":[104],"nonsymmetric":[106,202],"has":[109],"been":[110],"confounded":[111],"by":[112,140,219],"exotic":[116],"their":[119],"spaces.":[123],"In":[124],"this":[125],"paper,":[126],"we":[127],"represent":[128],"with":[132],"radius":[134],"graph,":[135],"then":[136,153],"weight":[137],"each":[138],"edge":[139],"solving":[141],"optimization":[143],"problem":[144],"using":[145],"homotopy":[146],"continuation":[147],"quantify":[149],"transmission":[150,170,208],"quality.":[151,171],"We":[152,196],"employ":[154],"graph":[156],"path":[157],"planner":[158],"approximate":[160],"geodesics":[161],"between":[162,180],"points":[164],"avoid":[166],"regions":[167],"low":[169],"Our":[172],"methodology":[173],"automatically":[174],"generates":[175],"paths":[176],"capable":[177],"transitioning":[179],"non-neighboring":[181],"modes,":[183],"motion":[185],"involves":[187],"osculating":[188],"multiple":[189],"boundaries":[191],"(local,":[192],"global,":[193],"both).":[195],"apply":[197],"our":[198],"technique":[199],"two":[201],"examples":[204],"demonstrate":[206],"how":[207],"properties":[209],"other":[211],"characteristics":[212],"selected":[218],"switching":[220],"modes.":[222]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}