{"id":"https://openalex.org/W4413925317","doi":"https://doi.org/10.1109/icra55743.2025.11128865","title":"Interactive Motion Planning for a 7-DOF Robot","display_name":"Interactive Motion Planning for a 7-DOF Robot","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925317","doi":"https://doi.org/10.1109/icra55743.2025.11128865"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128865","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128865","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5053177280","display_name":"Nicholas D. E. Greene","orcid":"https://orcid.org/0000-0002-4170-5248"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicholas Greene","raw_affiliation_strings":["Johns Hopkins University,Dept. of Computer Science,Baltimore,MD,USA,21218"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Dept. of Computer Science,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041991085","display_name":"Will Pryor","orcid":"https://orcid.org/0009-0000-6753-6131"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Will Pryor","raw_affiliation_strings":["Johns Hopkins University,Dept. of Computer Science,Baltimore,MD,USA,21218"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Dept. of Computer Science,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100642586","display_name":"Liam J. Wang","orcid":"https://orcid.org/0009-0002-5796-6925"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Liam Wang","raw_affiliation_strings":["Johns Hopkins University,Dept. of Computer Science,Baltimore,MD,USA,21218"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Dept. of Computer Science,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022619253","display_name":"Peter Kazanzides","orcid":"https://orcid.org/0000-0002-6117-5467"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Kazanzides","raw_affiliation_strings":["Johns Hopkins University,Dept. of Computer Science,Baltimore,MD,USA,21218"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Dept. of Computer Science,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.24719595,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4731","last_page":"4737"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9897000193595886,"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":0.9897000193595886,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.980400025844574,"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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9365000128746033,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/computer-science","display_name":"Computer science","score":0.6690732836723328},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6209673285484314},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5981831550598145},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5233530402183533},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.467695951461792},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35564637184143066}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6690732836723328},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6209673285484314},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5981831550598145},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5233530402183533},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.467695951461792},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35564637184143066}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128865","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128865","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":15,"referenced_works":["https://openalex.org/W2117758942","https://openalex.org/W2138045872","https://openalex.org/W2165745738","https://openalex.org/W2326225607","https://openalex.org/W2566157251","https://openalex.org/W2801350411","https://openalex.org/W2963516423","https://openalex.org/W3107603356","https://openalex.org/W3127976111","https://openalex.org/W3129840835","https://openalex.org/W4226262609","https://openalex.org/W4292862792","https://openalex.org/W4376256385","https://openalex.org/W4383108745","https://openalex.org/W4404280901"],"related_works":["https://openalex.org/W3049557657","https://openalex.org/W3150915502","https://openalex.org/W8302103","https://openalex.org/W2111158727","https://openalex.org/W1809059965","https://openalex.org/W2024668666","https://openalex.org/W3171631314","https://openalex.org/W2155287816","https://openalex.org/W2674584172","https://openalex.org/W2132826624"],"abstract_inverted_index":{"The":[0,106],"use":[1],"of":[2,30,42,53,61,70,82,134,143,193],"robots":[3],"in":[4,25,94,103],"high-risk":[5],"and":[6,20,49,76,96,125],"extreme":[7],"environments":[8],"is":[9,32,151,176],"crucial":[10],"for":[11,91],"tasks":[12],"that":[13,130,166,190],"are":[14],"dangerous":[15],"or":[16],"inaccessible":[17],"to":[18,46,100,120],"humans":[19],"require":[21],"high":[22],"precision.":[23],"Particularly":[24],"scenarios":[26],"where":[27],"the":[28,39,47,66,71,113,140,180,191],"cost":[29],"failure":[31],"high,":[33],"remote":[34],"human":[35],"teleoperation":[36,114,133],"can":[37,88],"be":[38,89,98,110],"preferred":[40,99],"method":[41],"robot":[43,137,168],"control":[44],"due":[45],"adaptability":[48],"high-level":[50],"decision":[51],"making":[52],"humans.":[54],"Teleoperation":[55],"brings":[56],"many":[57,104],"challenges":[58],"including":[59],"lack":[60],"accurate":[62],"prior":[63],"knowledge":[64],"about":[65],"environment,":[67],"limited":[68],"views":[69],"environment":[72],"by":[73,112,138],"on-board":[74],"sensors,":[75],"especially":[77],"inconsistent":[78],"latency.":[79],"7-DOF":[80,136],"(degrees":[81],"freedom)":[83],"manipulators":[84,102],"provide":[85],"redundancy":[86],"which":[87,150,175,188],"utilized":[90],"increased":[92],"flexibility":[93],"manipulation,":[95],"may":[97],"6-DOF":[101],"scenarios.":[105],"redundancy,":[107],"however,":[108],"must":[109],"considered":[111],"system.":[115],"We":[116,184],"present":[117],"an":[118,121,154],"extension":[119],"existing":[122],"Interactive":[123],"Planning":[124],"Supervised":[126],"Execution":[127],"(IPSE)":[128],"system":[129],"enables":[131],"full":[132],"a":[135,146,161,172,186],"encoding":[139],"redundant":[141],"degree":[142],"freedom":[144],"with":[145],"Shoulder-Elbow-Wrist":[147],"(SEW)":[148],"angle,":[149],"user-manipulable":[152],"via":[153],"SEW":[155,181,195],"angle":[156,182],"graph.":[157,183],"Additionally,":[158],"we":[159],"introduce":[160],"novel":[162],"user":[163],"interface":[164],"feature":[165],"encodes":[167],"state":[169],"information":[170],"into":[171],"2D":[173],"image":[174],"displayed":[177],"directly":[178],"on":[179],"conduct":[185],"user-study":[187],"demonstrates":[189],"addition":[192],"this":[194],"graph":[196],"significantly":[197],"reduces":[198],"task":[199],"completion":[200],"time.":[201]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
