{"id":"https://openalex.org/W2900985469","doi":"https://doi.org/10.1109/iisr.2018.8535650","title":"Target Grasping and Obstacle Avoidance Motion Planning of Humanoid Robot","display_name":"Target Grasping and Obstacle Avoidance Motion Planning of Humanoid Robot","publication_year":2018,"publication_date":"2018-08-01","ids":{"openalex":"https://openalex.org/W2900985469","doi":"https://doi.org/10.1109/iisr.2018.8535650","mag":"2900985469"},"language":"en","primary_location":{"id":"doi:10.1109/iisr.2018.8535650","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iisr.2018.8535650","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Intelligence and Safety for Robotics (ISR)","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/A5005805097","display_name":"Ke Ren","orcid":"https://orcid.org/0000-0002-5735-055X"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ke Ren","raw_affiliation_strings":["Institute of Mechatronic Engineering, Northeastern University, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020992815","display_name":"Zhiguo L\u00fc","orcid":"https://orcid.org/0000-0003-1003-9876"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"ZhiGuo Lu","raw_affiliation_strings":["Institute of Mechatronic Engineering, Northeastern University, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045612472","display_name":"Dong Hu","orcid":"https://orcid.org/0000-0003-2417-119X"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hu Dong","raw_affiliation_strings":["Institute of Mechatronic Engineering, Northeastern University, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070702443","display_name":"Dexin Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dexin Cheng","raw_affiliation_strings":["Institute of Mechatronic Engineering, Northeastern University, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108752485","display_name":"Yongji Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongji Yu","raw_affiliation_strings":["Institute of Mechatronic Engineering, Northeastern University, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063431927","display_name":"Ruibo Cui","orcid":null},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruibo Cui","raw_affiliation_strings":["Institute of Mechatronic Engineering, Northeastern University, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110557668","display_name":"Qingwen Yu","orcid":"https://orcid.org/0009-0006-3339-8280"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingwen Yu","raw_affiliation_strings":["Institute of Mechatronic Engineering, Northeastern University, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101463905","display_name":"Shiyu Yan","orcid":"https://orcid.org/0009-0003-4067-9652"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiyu Yan","raw_affiliation_strings":["Institute of Mechatronic Engineering, Northeastern University, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.13334522,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"2018","issue":null,"first_page":"250","last_page":"255"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9941999912261963,"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/robot","display_name":"Robot","score":0.7765054702758789},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7448942065238953},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6359111666679382},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6237379312515259},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5918969511985779},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5904289484024048},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5459056496620178},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5067172646522522},{"id":"https://openalex.org/keywords/plug-in","display_name":"Plug-in","score":0.5015130043029785},{"id":"https://openalex.org/keywords/service-robot","display_name":"Service robot","score":0.5003328323364258},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.49680498242378235},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.49672776460647583},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4849393665790558},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41820698976516724},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39150702953338623},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.15576636791229248},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.05079713463783264}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7765054702758789},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7448942065238953},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6359111666679382},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6237379312515259},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5918969511985779},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5904289484024048},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5459056496620178},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5067172646522522},{"id":"https://openalex.org/C4924752","wikidata":"https://www.wikidata.org/wiki/Q184148","display_name":"Plug-in","level":2,"score":0.5015130043029785},{"id":"https://openalex.org/C2776228582","wikidata":"https://www.wikidata.org/wiki/Q7455797","display_name":"Service robot","level":3,"score":0.5003328323364258},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.49680498242378235},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.49672776460647583},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4849393665790558},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41820698976516724},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39150702953338623},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.15576636791229248},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.05079713463783264},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iisr.2018.8535650","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iisr.2018.8535650","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Intelligence and Safety for Robotics (ISR)","raw_type":"proceedings-article"},{"id":"mag:3174380412","is_oa":false,"landing_page_url":"https://jglobal.jst.go.jp/en/detail?JGLOBAL_ID=201802259857516615","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W2068127265","https://openalex.org/W2110762409","https://openalex.org/W2336416123","https://openalex.org/W3088425536"],"related_works":["https://openalex.org/W47352601","https://openalex.org/W2539823562","https://openalex.org/W2074455817","https://openalex.org/W2163555676","https://openalex.org/W4389401105","https://openalex.org/W2950956522","https://openalex.org/W4390481035","https://openalex.org/W2153355016","https://openalex.org/W2016381855","https://openalex.org/W2776995446"],"abstract_inverted_index":{"Aiming":[0],"at":[1],"the":[2,9,16,25,33,38,40,51,56,60,93,113,122,137,139,143,149,158,176],"problem":[3],"of":[4,11,21,118,121,160,179],"robot":[5,22,35,41,67,123],"motion":[6,69],"planning":[7,19,70,166],"under":[8,24],"environment":[10,106],"obstacles,":[12],"this":[13],"paper":[14],"studies":[15],"obstacle":[17,94,126,164],"avoidance":[18,95,127,165],"method":[20],"arm":[23,68,140],"ROS":[26,161],"platform":[27,162],"(Robot":[28],"Operating":[29],"System).":[30],"Based":[31],"on":[32,136,148],"service":[34],"developed":[36],"by":[37,73,82],"team,":[39],"URDF":[42],"(Unified":[43],"Robot":[44],"Description":[45],"Format)":[46],"file":[47],"is":[48,167,173],"exported":[49],"from":[50],"3-D":[52,103],"SolidWorks":[53],"model":[54],"using":[55,78],"SW2URDF":[57],"plugin,":[58],"and":[59,62,84,99,110,115,130,145,169,171],"configuration":[61],"launch":[63],"files":[64],"needed":[65],"for":[66,163],"are":[71],"created":[72],"MoveIt!":[74,83],"Setup":[75],"Assistant.":[76],"By":[77],"relevant":[79],"APIs":[80],"provided":[81],"invoking":[85],"random":[86],"sampling":[87],"based":[88],"algorithm":[89],"RRT":[90],"we":[91],"completed":[92],"planning,":[96,128],"object":[97,144],"grasping":[98,129],"placement":[100],"tasks":[101],"in":[102],"real-time":[104],"simulation":[105],"Rviz":[107],"(ROS":[108],"visualization),":[109],"also":[111],"derived":[112],"position":[114],"velocity":[116],"curves":[117],"each":[119],"joint":[120],"arm.":[124],"Finally,":[125],"placing":[131],"experiments":[132],"were":[133],"carried":[134],"out":[135],"robot,":[138],"successfully":[141],"grasped":[142],"placed":[146],"it":[147,172],"designated":[150],"location":[151],"without":[152],"collision.":[153],"The":[154],"results":[155],"show":[156],"that":[157],"use":[159],"convenient":[168],"intuitive,":[170],"instructive":[174],"to":[175],"application":[177],"research":[178],"robot.":[180]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
