{"id":"https://openalex.org/W4401414368","doi":"https://doi.org/10.1109/icra57147.2024.10611510","title":"IKLink: End-Effector Trajectory Tracking with Minimal Reconfigurations","display_name":"IKLink: End-Effector Trajectory Tracking with Minimal Reconfigurations","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414368","doi":"https://doi.org/10.1109/icra57147.2024.10611510"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611510","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611510","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/A5036679697","display_name":"Yeping Wang","orcid":"https://orcid.org/0000-0003-2628-0146"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yeping Wang","raw_affiliation_strings":["University of Wisconsin-Madison,Department of Computer Sciences,Madison,WI,USA,53706"],"affiliations":[{"raw_affiliation_string":"University of Wisconsin-Madison,Department of Computer Sciences,Madison,WI,USA,53706","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035018194","display_name":"Carter Sifferman","orcid":"https://orcid.org/0000-0002-6005-1884"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carter Sifferman","raw_affiliation_strings":["University of Wisconsin-Madison,Department of Computer Sciences,Madison,WI,USA,53706"],"affiliations":[{"raw_affiliation_string":"University of Wisconsin-Madison,Department of Computer Sciences,Madison,WI,USA,53706","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084778474","display_name":"Michael Gleicher","orcid":"https://orcid.org/0000-0003-3295-4071"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Gleicher","raw_affiliation_strings":["University of Wisconsin-Madison,Department of Computer Sciences,Madison,WI,USA,53706"],"affiliations":[{"raw_affiliation_string":"University of Wisconsin-Madison,Department of Computer Sciences,Madison,WI,USA,53706","institution_ids":["https://openalex.org/I135310074"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5036679697"],"corresponding_institution_ids":["https://openalex.org/I135310074"],"apc_list":null,"apc_paid":null,"fwci":1.0463,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.77539921,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"12165","last_page":"12171"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10142","display_name":"Formal Methods in Verification","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9966999888420105,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6687463521957397},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5820322036743164},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5354568958282471},{"id":"https://openalex.org/keywords/effector","display_name":"Effector","score":0.4743805527687073},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.46430519223213196},{"id":"https://openalex.org/keywords/end-to-end-principle","display_name":"End-to-end principle","score":0.45838043093681335},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34743809700012207},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3110286295413971},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16912201046943665},{"id":"https://openalex.org/keywords/cell-biology","display_name":"Cell biology","score":0.086713045835495},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08519530296325684},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0602954626083374},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.05551329255104065},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.040542662143707275}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6687463521957397},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5820322036743164},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5354568958282471},{"id":"https://openalex.org/C51785407","wikidata":"https://www.wikidata.org/wiki/Q2627568","display_name":"Effector","level":2,"score":0.4743805527687073},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.46430519223213196},{"id":"https://openalex.org/C74296488","wikidata":"https://www.wikidata.org/wiki/Q2527392","display_name":"End-to-end principle","level":2,"score":0.45838043093681335},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34743809700012207},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3110286295413971},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16912201046943665},{"id":"https://openalex.org/C95444343","wikidata":"https://www.wikidata.org/wiki/Q7141","display_name":"Cell biology","level":1,"score":0.086713045835495},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08519530296325684},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0602954626083374},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.05551329255104065},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.040542662143707275},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611510","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611510","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/F4320338304","display_name":"Los Alamos National Laboratory","ror":"https://ror.org/01e41cf67"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1673310716","https://openalex.org/W1971086298","https://openalex.org/W1971759479","https://openalex.org/W1976952767","https://openalex.org/W2012294177","https://openalex.org/W2041703754","https://openalex.org/W2042913147","https://openalex.org/W2126386176","https://openalex.org/W2142224528","https://openalex.org/W2205340216","https://openalex.org/W2562184125","https://openalex.org/W2765226061","https://openalex.org/W2805114031","https://openalex.org/W2889326414","https://openalex.org/W2963481133","https://openalex.org/W2968835533","https://openalex.org/W2969124493","https://openalex.org/W3002376671","https://openalex.org/W3020946384","https://openalex.org/W3040657366","https://openalex.org/W3211042816","https://openalex.org/W3212320963","https://openalex.org/W4211135528","https://openalex.org/W4213454226","https://openalex.org/W4383108591","https://openalex.org/W4383109196","https://openalex.org/W6637131181"],"related_works":["https://openalex.org/W4320492283","https://openalex.org/W1530034981","https://openalex.org/W4214695225","https://openalex.org/W3197607994","https://openalex.org/W2783284266","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W2157008402","https://openalex.org/W2592302855"],"abstract_inverted_index":{"Many":[0],"applications":[1],"require":[2],"a":[3,50,91,113,130,151,159],"robot":[4,55],"to":[5,22,39,97,134],"accurately":[6],"track":[7,98],"reference":[8,59,99,126],"end-effector":[9,100],"trajectories.":[10],"Certain":[11],"trajectories":[12,101],"may":[13],"not":[14],"be":[15,76],"tracked":[16],"as":[17],"single,":[18],"continuous":[19],"paths":[20],"due":[21],"the":[23,31,41,54,58,104,125,136,141,146],"robot\u2019s":[24],"kinematic":[25],"constraints":[26],"or":[27],"obstacles":[28],"elsewhere":[29],"in":[30,52,63],"environment.":[32],"In":[33,85],"this":[34,86],"situation,":[35],"it":[36],"becomes":[37],"necessary":[38],"divide":[40],"trajectory":[42,127],"into":[43],"shorter":[44],"segments.":[45],"Each":[46],"such":[47],"division":[48],"introduces":[49],"reconfiguration,":[51],"which":[53],"deviates":[56],"from":[57],"trajectory,":[60],"repositions":[61],"itself":[62],"configuration":[64],"space,":[65],"and":[66,82,128,154],"then":[67],"resumes":[68],"task":[69],"execution.":[70],"The":[71],"occurrence":[72],"of":[73,107,116,148],"reconfigurations":[74],"should":[75],"minimized":[77],"because":[78],"they":[79],"increase":[80],"time":[81],"energy":[83],"usage.":[84],"paper,":[87],"we":[88],"present":[89],"IKLink,":[90],"method":[92,111],"for":[93,121],"finding":[94],"joint":[95],"motions":[96],"while":[102],"executing":[103],"minimum":[105],"number":[106],"reconfigurations.":[108],"Our":[109],"graph-based":[110],"generates":[112],"diverse":[114],"set":[115],"Inverse":[117],"Kinematics":[118],"(IK)":[119],"solutions":[120],"every":[122],"waypoint":[123],"on":[124],"utilizes":[129],"dynamic":[131],"programming":[132],"algorithm":[133],"find":[135],"optimal":[137],"motion":[138],"by":[139],"linking":[140],"IK":[142],"solutions.":[143],"We":[144],"demonstrate":[145],"effectiveness":[147],"IKLink":[149],"through":[150],"simulation":[152],"experiment":[153],"an":[155],"illustrative":[156],"demonstration":[157],"using":[158],"physical":[160],"robot.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2}],"updated_date":"2026-02-27T16:54:17.756197","created_date":"2025-10-10T00:00:00"}
