{"id":"https://openalex.org/W4401413705","doi":"https://doi.org/10.1109/icra57147.2024.10611145","title":"Robust and Remote Center of Cyclic Motion Control for Redundant Robots with Partially Unknown Structure","display_name":"Robust and Remote Center of Cyclic Motion Control for Redundant Robots with Partially Unknown Structure","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401413705","doi":"https://doi.org/10.1109/icra57147.2024.10611145"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611145","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611145","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5100703636","display_name":"Long Jin","orcid":"https://orcid.org/0000-0002-5329-5098"},"institutions":[{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Long Jin","raw_affiliation_strings":["Lanzhou University,School of Information Science and Engineering,Lanzhou,China"],"affiliations":[{"raw_affiliation_string":"Lanzhou University,School of Information Science and Engineering,Lanzhou,China","institution_ids":["https://openalex.org/I76214153"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032773719","display_name":"Kun Liu","orcid":"https://orcid.org/0000-0001-9127-053X"},"institutions":[{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Liu","raw_affiliation_strings":["Lanzhou University,School of Information Science and Engineering,Lanzhou,China"],"affiliations":[{"raw_affiliation_string":"Lanzhou University,School of Information Science and Engineering,Lanzhou,China","institution_ids":["https://openalex.org/I76214153"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100347934","display_name":"Mei Liu","orcid":"https://orcid.org/0000-0003-0445-941X"},"institutions":[{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mei Liu","raw_affiliation_strings":["Lanzhou University,School of Information Science and Engineering,Lanzhou,China"],"affiliations":[{"raw_affiliation_string":"Lanzhou University,School of Information Science and Engineering,Lanzhou,China","institution_ids":["https://openalex.org/I76214153"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100703636"],"corresponding_institution_ids":["https://openalex.org/I76214153"],"apc_list":null,"apc_paid":null,"fwci":0.3488,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.57213208,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"3492","last_page":"3498"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9980000257492065,"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":0.9980000257492065,"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":0.9965999722480774,"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":0.9955000281333923,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/center","display_name":"Center (category theory)","score":0.6208470463752747},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6061251163482666},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5857212543487549},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5807909369468689},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5126489996910095},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44476988911628723},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.410916268825531}],"concepts":[{"id":"https://openalex.org/C2779463800","wikidata":"https://www.wikidata.org/wiki/Q5062222","display_name":"Center (category theory)","level":2,"score":0.6208470463752747},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6061251163482666},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5857212543487549},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5807909369468689},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5126489996910095},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44476988911628723},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.410916268825531},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C8010536","wikidata":"https://www.wikidata.org/wiki/Q160398","display_name":"Crystallography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611145","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611145","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322880","display_name":"Natural Science Foundation of Gansu Province","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W2074456248","https://openalex.org/W2998930101","https://openalex.org/W3048422314","https://openalex.org/W3089641089","https://openalex.org/W3089779022","https://openalex.org/W3091687682","https://openalex.org/W3131953810","https://openalex.org/W3187020344","https://openalex.org/W3196560067","https://openalex.org/W3202175197","https://openalex.org/W3206711961","https://openalex.org/W3206811919","https://openalex.org/W3212197897","https://openalex.org/W4205184873","https://openalex.org/W4280548476","https://openalex.org/W4285284863","https://openalex.org/W4313431304","https://openalex.org/W4390777654","https://openalex.org/W4391164060","https://openalex.org/W4391164414"],"related_works":["https://openalex.org/W2188431416","https://openalex.org/W2065091555","https://openalex.org/W2371189778","https://openalex.org/W1573667629","https://openalex.org/W654422885","https://openalex.org/W4245286412","https://openalex.org/W4235844296","https://openalex.org/W4235831351","https://openalex.org/W2440845420","https://openalex.org/W4362690027"],"abstract_inverted_index":{"Remote":[0],"center":[1,71],"of":[2,31,72,92,118,124],"motion":[3,74,86,98],"(RCM)":[4],"describes":[5],"a":[6,9,14,108,129],"robot":[7,56,93],"with":[8],"rod-like":[10,60],"end-effector":[11,42,61,120],"operating":[12],"through":[13],"hole":[15],"in":[16],"the":[17,20,24,29,41,50,55,84,89,104,119,122,147],"interface":[18],"separating":[19],"internal":[21],"space":[22],"from":[23],"external":[25],"space.":[26],"Considering":[27],"that":[28,40],"control":[30,78,102],"RCM":[32,101],"may":[33,62],"be":[34],"influenced":[35],"by":[36],"perturbations":[37],"(noises)":[38],"and":[39,58,88,100,128,139,154],"is":[43,112,163],"frequently":[44],"replaced":[45],"to":[46,54,95,114,135],"complete":[47],"different":[48],"tasks,":[49],"structural":[51],"information":[52],"related":[53,140],"manipulator":[57],"its":[59],"contain":[63],"errors.":[64],"This":[65],"paper":[66],"proposes":[67],"an":[68],"acceleration-level":[69],"remote":[70],"cyclic":[73,85],"(ARC<sup":[75],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[76,150],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>M)":[77],"scheme,":[79,152],"which":[80],"takes":[81],"into":[82],"account":[83],"index":[87],"physical":[90,155],"limitations":[91],"manipulators":[94],"achieve":[96],"repetitive":[97],"planning":[99],"at":[103,165],"acceleration":[105],"level.":[106],"Additionally,":[107],"parameter":[109],"calculation":[110],"method":[111,132],"proposed":[113,148],"compute":[115],"unknown":[116],"parameters":[117],"under":[121],"influence":[123],"noise.":[125],"Kalman":[126],"filter":[127],"neural":[130],"dynamics-based":[131],"are":[133,143,157],"employed":[134],"address":[136],"noises":[137],"effects,":[138],"theoretical":[141],"analyses":[142],"given.":[144],"To":[145],"validate":[146],"ARC<sup":[149],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>M":[151],"simulations":[153],"experiments":[156],"carried":[158],"out.":[159],"The":[160],"source":[161],"code":[162],"available":[164],"https://github.com/LongJin-lab/ARCM.":[166]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}