{"id":"https://openalex.org/W2145040001","doi":"https://doi.org/10.1109/iros.2007.4399182","title":"Obstacle avoidance for redundant robots using Jacobian transpose method","display_name":"Obstacle avoidance for redundant robots using Jacobian transpose method","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2145040001","doi":"https://doi.org/10.1109/iros.2007.4399182","mag":"2145040001"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399182","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399182","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/A5111434331","display_name":"Kwang-Kyu Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Kwang-Kyu Lee","raw_affiliation_strings":["Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","Tech. Univ. Munchen, Munich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Tech. Univ. Munchen, Munich","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081223790","display_name":"Martin Buss","orcid":"https://orcid.org/0000-0002-1776-2752"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Buss","raw_affiliation_strings":["Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5111434331"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":1.9738,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.87756471,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3509","last_page":"3514"},"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":0.9988999962806702,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9902999997138977,"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/transpose","display_name":"Transpose","score":0.8871464729309082},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.8664153218269348},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.8369812965393066},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6542596817016602},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5921767950057983},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.542498767375946},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.499004602432251},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4741505980491638},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4689093828201294},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.46167704463005066},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4468044340610504},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43687915802001953},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.43285149335861206},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.371884822845459},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3537900447845459},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30952632427215576},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27592507004737854},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2188403308391571},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08354294300079346},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.07895725965499878},{"id":"https://openalex.org/keywords/eigenvalues-and-eigenvectors","display_name":"Eigenvalues and eigenvectors","score":0.06250673532485962}],"concepts":[{"id":"https://openalex.org/C200106649","wikidata":"https://www.wikidata.org/wiki/Q223683","display_name":"Transpose","level":3,"score":0.8871464729309082},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.8664153218269348},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8369812965393066},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6542596817016602},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5921767950057983},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.542498767375946},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.499004602432251},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4741505980491638},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4689093828201294},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.46167704463005066},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4468044340610504},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43687915802001953},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.43285149335861206},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.371884822845459},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3537900447845459},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30952632427215576},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27592507004737854},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2188403308391571},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08354294300079346},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.07895725965499878},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.06250673532485962},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2007.4399182","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399182","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":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1969874316","https://openalex.org/W1976523141","https://openalex.org/W1982442957","https://openalex.org/W1990607893","https://openalex.org/W2035420410","https://openalex.org/W2046009294","https://openalex.org/W2048411590","https://openalex.org/W2049617391","https://openalex.org/W2074256192","https://openalex.org/W2101745110","https://openalex.org/W2103120971","https://openalex.org/W2107304747","https://openalex.org/W2114872772","https://openalex.org/W2120713930","https://openalex.org/W2125827767","https://openalex.org/W2164998674","https://openalex.org/W2166316739","https://openalex.org/W2169520921","https://openalex.org/W2323447981","https://openalex.org/W3088063282"],"related_works":["https://openalex.org/W2016247732","https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2131949474","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2327154875","https://openalex.org/W2356867392","https://openalex.org/W2913749762"],"abstract_inverted_index":{"Conventional":[0],"approaches":[1],"for":[2,81],"collision":[3,30,45,78],"avoidance":[4,46],"often":[5],"use":[6],"the":[7,38,60,63,106,115],"gradient":[8,61],"projection":[9],"method":[10,43,51],"on":[11,48],"minimum":[12,64],"distance":[13,65],"function.":[14],"This":[15],"paper":[16],"discusses":[17],"several":[18,107],"shortcomings":[19,108],"to":[20,28,37,58,104,113],"draw":[21],"special":[22],"attention":[23],"when":[24],"it":[25],"is":[26,52,90],"applied":[27],"avoid":[29],"with":[31,94],"multiple":[32],"obstacles.":[33],"As":[34],"a":[35,41,70,95],"remedy":[36],"identified":[39],"problems,":[40],"novel":[42],"of":[44,62,98,109],"based":[47],"Jacobian":[49],"transpose":[50],"proposed,":[53],"which":[54],"does":[55],"not":[56],"require":[57],"calculate":[59],"function,":[66],"hence":[67],"resulting":[68],"in":[69],"computationally":[71],"simple":[72],"algorithm.":[73],"In":[74],"addition,":[75],"an":[76],"efficient":[77],"detection":[79],"algorithm":[80],"all":[82],"possible":[83],"spatial":[84],"as":[85,87],"well":[86],"planar":[88,100],"configurations":[89],"presented.":[91],"Simulation":[92],"results":[93],"four":[96],"Degrees":[97],"Freedom":[99],"manipulator":[101],"are":[102],"given":[103],"illustrate":[105],"conventional":[110],"methods":[111],"and":[112],"validate":[114],"proposed":[116],"method.":[117]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":3}],"updated_date":"2026-05-02T08:42:23.175194","created_date":"2025-10-10T00:00:00"}