{"id":"https://openalex.org/W2101611838","doi":"https://doi.org/10.1109/iros.2007.4399166","title":"Multi-preview configuration control for redundant manipulator by future reachability evaluation","display_name":"Multi-preview configuration control for redundant manipulator by future reachability evaluation","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2101611838","doi":"https://doi.org/10.1109/iros.2007.4399166","mag":"2101611838"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399166","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399166","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5063483730","display_name":"Tongxiao Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I111966504","display_name":"University of Fukui","ror":"https://ror.org/00msqp585","country_code":"JP","type":"education","lineage":["https://openalex.org/I111966504"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tong-xiao Zhang","raw_affiliation_strings":["Graduate school of Engineering, University of Fukui, Fukui, Japan","University of Fukui, Fukui#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate school of Engineering, University of Fukui, Fukui, Japan","institution_ids":["https://openalex.org/I111966504"]},{"raw_affiliation_string":"University of Fukui, Fukui#TAB#","institution_ids":["https://openalex.org/I111966504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073454546","display_name":"Mamoru Minami","orcid":null},"institutions":[{"id":"https://openalex.org/I111966504","display_name":"University of Fukui","ror":"https://ror.org/00msqp585","country_code":"JP","type":"education","lineage":["https://openalex.org/I111966504"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mamoru Minami","raw_affiliation_strings":["Faculty of Engineering, University of Fukui, Fukui, Japan","Faculty of Engineering, University of Fukui, Bunkyo3-9-1, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Fukui, Fukui, Japan","institution_ids":["https://openalex.org/I111966504"]},{"raw_affiliation_string":"Faculty of Engineering, University of Fukui, Bunkyo3-9-1, Japan","institution_ids":["https://openalex.org/I111966504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067090170","display_name":"Wei Song","orcid":"https://orcid.org/0000-0002-5909-9661"},"institutions":[{"id":"https://openalex.org/I111966504","display_name":"University of Fukui","ror":"https://ror.org/00msqp585","country_code":"JP","type":"education","lineage":["https://openalex.org/I111966504"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Wei Song","raw_affiliation_strings":["Graduate school of Engineering, University of Fukui, Fukui, Japan","Graduate school of Engineering, University of Fukui, Bunkyo3-9-1, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate school of Engineering, University of Fukui, Fukui, Japan","institution_ids":["https://openalex.org/I111966504"]},{"raw_affiliation_string":"Graduate school of Engineering, University of Fukui, Bunkyo3-9-1, Japan","institution_ids":["https://openalex.org/I111966504"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"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":0.13704038,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"15","issue":null,"first_page":"3503","last_page":"3508"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9984999895095825,"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/reachability","display_name":"Reachability","score":0.8636804819107056},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8188183307647705},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8026084899902344},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7237953543663025},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6889133453369141},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5671255588531494},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5374086499214172},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5102694034576416},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4957009553909302},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.49024683237075806},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.47566813230514526},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4200237989425659},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.41144293546676636},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3768179416656494},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29178446531295776},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2020324170589447},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17855405807495117},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17385771870613098},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08885285258293152},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.05805164575576782}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.8636804819107056},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8188183307647705},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8026084899902344},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7237953543663025},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6889133453369141},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5671255588531494},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5374086499214172},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5102694034576416},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4957009553909302},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.49024683237075806},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.47566813230514526},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4200237989425659},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.41144293546676636},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3768179416656494},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29178446531295776},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2020324170589447},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17855405807495117},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17385771870613098},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08885285258293152},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.05805164575576782},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2007.4399166","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399166","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1963741335","https://openalex.org/W1980019759","https://openalex.org/W1990607893","https://openalex.org/W2125097538","https://openalex.org/W2129340742","https://openalex.org/W2130068673","https://openalex.org/W2131011485","https://openalex.org/W2320891546","https://openalex.org/W2327974227"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2075718555","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W3043170174"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,37,50],"new":[4,51],"approach":[5],"to":[6,35,61,65],"achieve":[7],"an":[8],"on-line":[9],"control":[10,62,87,93],"of":[11,68,85,90],"trajectory":[12,25,29,69],"tracking":[13,30,70],"and":[14,71,79],"obstacle":[15,72],"avoidance":[16,41,73,77],"for":[17],"redundant":[18],"manipulators":[19],"without":[20],"prechecking":[21],"path-planning":[22],"in":[23,43],"whole":[24],"tracking.":[26],"In":[27,45],"the":[28,83],"process,":[31],"manipulator":[32],"is":[33],"required":[34],"keep":[36],"configuration":[38,64],"with":[39,75,94],"maximal":[40],"manipulability":[42,78],"real-time.":[44],"this":[46],"paper,":[47],"we":[48],"present":[49],"idea:":[52],"Multi-Preview":[53],"Control,":[54],"which":[55],"uses":[56],"several":[57],"future":[58],"optimal":[59],"configurations":[60],"current":[63],"complete":[66],"task":[67],"online":[74],"high":[76],"reachability.":[80],"We":[81],"verify":[82],"validity":[84],"multi-preview":[86,95],"through":[88],"simulations":[89],"comparing":[91],"single-preview":[92],"control.":[96]},"counts_by_year":[{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}