{"id":"https://openalex.org/W2900989083","doi":"https://doi.org/10.1109/iisr.2018.8535762","title":"Trajectory Planning Based on Dual Torque Feedforward Control for Robot Astronaut Safe Movement on Space Station","display_name":"Trajectory Planning Based on Dual Torque Feedforward Control for Robot Astronaut Safe Movement on Space Station","publication_year":2018,"publication_date":"2018-08-01","ids":{"openalex":"https://openalex.org/W2900989083","doi":"https://doi.org/10.1109/iisr.2018.8535762","mag":"2900989083"},"language":"en","primary_location":{"id":"doi:10.1109/iisr.2018.8535762","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iisr.2018.8535762","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/A5079047100","display_name":"Jiang Zhihong","orcid":null},"institutions":[{"id":"https://openalex.org/I185163786","display_name":"King Abdulaziz University","ror":"https://ror.org/02ma4wv74","country_code":"SA","type":"education","lineage":["https://openalex.org/I185163786"]}],"countries":["SA"],"is_corresponding":true,"raw_author_name":"Jiang Zhihong","raw_affiliation_strings":["Faculty of Computing and Information Technology King Abdulaziz University Jeddah, Saudi Arabia"],"affiliations":[{"raw_affiliation_string":"Faculty of Computing and Information Technology King Abdulaziz University Jeddah, Saudi Arabia","institution_ids":["https://openalex.org/I185163786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101647351","display_name":"Jiafeng Xu","orcid":"https://orcid.org/0000-0002-0276-0180"},"institutions":[{"id":"https://openalex.org/I185163786","display_name":"King Abdulaziz University","ror":"https://ror.org/02ma4wv74","country_code":"SA","type":"education","lineage":["https://openalex.org/I185163786"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Xu Jiafeng","raw_affiliation_strings":["Faculty of Computing and Information Technology King Abdulaziz University Jeddah, Saudi Arabia"],"affiliations":[{"raw_affiliation_string":"Faculty of Computing and Information Technology King Abdulaziz University Jeddah, Saudi Arabia","institution_ids":["https://openalex.org/I185163786"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Li Hui","orcid":null},"institutions":[{"id":"https://openalex.org/I185163786","display_name":"King Abdulaziz University","ror":"https://ror.org/02ma4wv74","country_code":"SA","type":"education","lineage":["https://openalex.org/I185163786"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Li Hui","raw_affiliation_strings":["Faculty of Computing and Information Technology King Abdulaziz University Jeddah, Saudi Arabia"],"affiliations":[{"raw_affiliation_string":"Faculty of Computing and Information Technology King Abdulaziz University Jeddah, Saudi Arabia","institution_ids":["https://openalex.org/I185163786"]}]},{"author_position":"last","author":{"id":null,"display_name":"Huang Qiang","orcid":null},"institutions":[{"id":"https://openalex.org/I185163786","display_name":"King Abdulaziz University","ror":"https://ror.org/02ma4wv74","country_code":"SA","type":"education","lineage":["https://openalex.org/I185163786"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Huang Qiang","raw_affiliation_strings":["Faculty of Computing and Information Technology King Abdulaziz University Jeddah, Saudi Arabia"],"affiliations":[{"raw_affiliation_string":"Faculty of Computing and Information Technology King Abdulaziz University Jeddah, Saudi Arabia","institution_ids":["https://openalex.org/I185163786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5079047100"],"corresponding_institution_ids":["https://openalex.org/I185163786"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.15101195,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"26","issue":null,"first_page":"13","last_page":"18"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10868","display_name":"Soft Robotics and Applications","score":0.9962000250816345,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9945999979972839,"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/feed-forward","display_name":"Feed forward","score":0.7543811798095703},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6529226899147034},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6324912309646606},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6191681623458862},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5193732380867004},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.46650025248527527},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45002633333206177},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43929019570350647},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4252462387084961},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.42216286063194275},{"id":"https://openalex.org/keywords/articulated-robot","display_name":"Articulated robot","score":0.42122071981430054},{"id":"https://openalex.org/keywords/bang-bang-robot","display_name":"Bang-bang robot","score":0.41520193219184875},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.41219183802604675},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3592677712440491},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.308395653963089},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19126972556114197},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15408116579055786},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10736504197120667}],"concepts":[{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.7543811798095703},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6529226899147034},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6324912309646606},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6191681623458862},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5193732380867004},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.46650025248527527},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45002633333206177},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43929019570350647},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4252462387084961},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.42216286063194275},{"id":"https://openalex.org/C138417311","wikidata":"https://www.wikidata.org/wiki/Q3180664","display_name":"Articulated robot","level":5,"score":0.42122071981430054},{"id":"https://openalex.org/C584957","wikidata":"https://www.wikidata.org/wiki/Q4854909","display_name":"Bang-bang robot","level":5,"score":0.41520193219184875},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.41219183802604675},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3592677712440491},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.308395653963089},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19126972556114197},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15408116579055786},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10736504197120667},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iisr.2018.8535762","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iisr.2018.8535762","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.5299999713897705}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W139131351","https://openalex.org/W1967377907","https://openalex.org/W2001852229","https://openalex.org/W2006535037","https://openalex.org/W2009483506","https://openalex.org/W2028179050","https://openalex.org/W2058822061","https://openalex.org/W2062691475","https://openalex.org/W2073129852","https://openalex.org/W2107063340","https://openalex.org/W2323447981","https://openalex.org/W2347124406","https://openalex.org/W2500765555","https://openalex.org/W2544124693","https://openalex.org/W2732939747","https://openalex.org/W4205362845","https://openalex.org/W6681548711","https://openalex.org/W6723834904"],"related_works":["https://openalex.org/W3044674998","https://openalex.org/W2139206564","https://openalex.org/W2209062660","https://openalex.org/W2063762970","https://openalex.org/W2923650232","https://openalex.org/W2281580139","https://openalex.org/W2137433957","https://openalex.org/W3004220142","https://openalex.org/W4242231179","https://openalex.org/W2216521820"],"abstract_inverted_index":{"The":[0],"robot":[1,29,43,64,79,120],"astronaut":[2],"is":[3,30,44],"a":[4,32,90],"multi-body":[5],"dynamics":[6,40,95],"system":[7],"with":[8],"multi-degrees":[9],"of":[10,41,77,118,129],"freedom,":[11],"nonlinearity":[12],"and":[13,19,54,65,80,96,113],"strong":[14],"coupling.":[15],"Its":[16],"motion":[17],"control":[18,91,131],"operation":[20],"target":[21],"are":[22],"in":[23,26,31],"micro-gravity":[24],"environment,":[25],"which":[27,104],"the":[28,39,42,47,60,63,66,75,78,107,111,115,119,127,130],"natural":[33],"floating":[34],"state.":[35],"On":[36],"space":[37,67,122],"station,":[38],"influenced":[45],"by":[46],"internal":[48],"force,":[49,51],"contact":[50],"inertial":[52],"force":[53,97,109],"joint":[55],"friction.":[56],"At":[57],"this":[58,86],"point,":[59],"collision":[61,112],"between":[62],"station":[68],"due":[69],"to":[70],"movement":[71,117],"will":[72],"greatly":[73,105],"influence":[74],"safety":[76],"may":[81],"cause":[82],"serious":[83],"damage.":[84],"In":[85],"paper,":[87],"we":[88],"propose":[89],"strategy":[92],"based":[93],"on":[94,121],"compliant":[98],"dual":[99],"feed":[100],"forward":[101],"torque":[102],"compensation,":[103],"eliminates":[106],"impact":[108],"during":[110],"realizes":[114],"safe":[116],"station.":[123],"Simulation":[124],"results":[125],"validate":[126],"effectiveness":[128],"strategy.":[132]},"counts_by_year":[],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}