{"id":"https://openalex.org/W2144332981","doi":"https://doi.org/10.1109/iros.2007.4399277","title":"Development of redundant robot simulator for Avoiding arbitrary obstacles based on semi-analytical method of solving inverse kinematics","display_name":"Development of redundant robot simulator for Avoiding arbitrary obstacles based on semi-analytical method of solving inverse kinematics","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2144332981","doi":"https://doi.org/10.1109/iros.2007.4399277","mag":"2144332981"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399277","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399277","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/A5070475291","display_name":"Seiji Aoyagi","orcid":"https://orcid.org/0000-0003-0177-7316"},"institutions":[{"id":"https://openalex.org/I56624758","display_name":"Kansai University","ror":"https://ror.org/03xg1f311","country_code":"JP","type":"education","lineage":["https://openalex.org/I56624758"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Seiji Aoyagi","raw_affiliation_strings":["Department Systems Management Engineering, Kansai University, Suita, Osaka, Japan","Kansai University, Osaka"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department Systems Management Engineering, Kansai University, Suita, Osaka, Japan","institution_ids":["https://openalex.org/I56624758"]},{"raw_affiliation_string":"Kansai University, Osaka","institution_ids":["https://openalex.org/I56624758"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036931887","display_name":"Kazuya Tashiro","orcid":null},"institutions":[{"id":"https://openalex.org/I56624758","display_name":"Kansai University","ror":"https://ror.org/03xg1f311","country_code":"JP","type":"education","lineage":["https://openalex.org/I56624758"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuya Tashiro","raw_affiliation_strings":["Department Systems Management Engineering, Kansai University, Suita, Osaka, Japan","Kansai University, Osaka"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department Systems Management Engineering, Kansai University, Suita, Osaka, Japan","institution_ids":["https://openalex.org/I56624758"]},{"raw_affiliation_string":"Kansai University, Osaka","institution_ids":["https://openalex.org/I56624758"]}]},{"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"]},{"id":"https://openalex.org/I125590103","display_name":"Fukui University of Technology","ror":"https://ror.org/01tm0rr86","country_code":"JP","type":"education","lineage":["https://openalex.org/I125590103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mamoru Minami","raw_affiliation_strings":["Fukui University of Technology, Fukui, Japan","Fukui University, Fukui 910-8507, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fukui University of Technology, Fukui, Japan","institution_ids":["https://openalex.org/I125590103"]},{"raw_affiliation_string":"Fukui University, Fukui 910-8507, JAPAN","institution_ids":["https://openalex.org/I111966504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107843784","display_name":"Masaharu Takano","orcid":null},"institutions":[{"id":"https://openalex.org/I56624758","display_name":"Kansai University","ror":"https://ror.org/03xg1f311","country_code":"JP","type":"education","lineage":["https://openalex.org/I56624758"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaharu Takano","raw_affiliation_strings":["Department Systems Management Engineering, Kansai University, Suita, Osaka, Japan","Department Systems Management Engineering, Kansai University, Suita, OSAKA 564-8680, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department Systems Management Engineering, Kansai University, Suita, Osaka, Japan","institution_ids":["https://openalex.org/I56624758"]},{"raw_affiliation_string":"Department Systems Management Engineering, Kansai University, Suita, OSAKA 564-8680, JAPAN","institution_ids":["https://openalex.org/I56624758"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.6372,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.91555274,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"38","issue":null,"first_page":"3497","last_page":"3502"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.995199978351593,"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/inverse-kinematics","display_name":"Inverse kinematics","score":0.8722131252288818},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6675041913986206},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6620056629180908},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6418843865394592},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6409144401550293},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6179677248001099},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.6143845319747925},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5899796485900879},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5469855666160583},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5171898603439331},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.5009708404541016},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4926326870918274},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.4884123206138611},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4435707628726959},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4399985373020172},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.42681825160980225},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.420911967754364},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38136738538742065},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3801470994949341},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.33931905031204224},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17183271050453186},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11609059572219849}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.8722131252288818},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6675041913986206},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6620056629180908},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6418843865394592},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6409144401550293},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6179677248001099},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.6143845319747925},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5899796485900879},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5469855666160583},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5171898603439331},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.5009708404541016},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4926326870918274},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.4884123206138611},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4435707628726959},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4399985373020172},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.42681825160980225},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.420911967754364},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38136738538742065},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3801470994949341},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.33931905031204224},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17183271050453186},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11609059572219849},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2007.4399277","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399277","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":4,"referenced_works":["https://openalex.org/W175913869","https://openalex.org/W2042803738","https://openalex.org/W2330298557","https://openalex.org/W6607065187"],"related_works":["https://openalex.org/W3047523153","https://openalex.org/W2304947037","https://openalex.org/W2744818472","https://openalex.org/W3016367173","https://openalex.org/W3134555460","https://openalex.org/W3129004068","https://openalex.org/W2154286641","https://openalex.org/W3041898164","https://openalex.org/W339676884","https://openalex.org/W3212355362"],"abstract_inverted_index":{"A":[0,137],"method":[1,86,103,118],"for":[2,6,27,104,119,140],"solving":[3,97,112],"obstacle":[4],"avoidance":[5],"a":[7,22,116,121,127,130,141],"redundant":[8,23,142],"robot":[9,24,45,58,143],"is":[10,46,89,152],"proposed":[11,87],"in":[12],"the":[13,44,57,64,134],"present":[14],"paper.":[15],"Extra":[16],"degrees":[17],"of":[18,21,34,70,74,80,109],"freedom":[19],"(DOF)":[20],"are":[25,76],"effective":[26],"realizing":[28,120],"an":[29,101],"objective":[30],"position":[31],"and":[32,62,124],"orientation":[33],"its":[35],"end":[36],"effector":[37],"(referred":[38],"to":[39,133,144],"hereafter":[40],"as":[41,55,94],"\"pose\"),":[42],"while":[43],"avoiding":[47,105],"obstacles.":[48],"The":[49,68,83],"path":[50,84,128],"should":[51],"be":[52],"planned":[53],"so":[54],"that":[56],"can":[59],"avoid":[60,145],"obstacles":[61,75,147],"realize":[63],"desired":[65],"goal":[66,122,135],"pose.":[67],"models":[69],"six":[71,106],"elementary":[72,107],"types":[73,108],"assumed,":[77],"taking":[78],"account":[79],"real":[81],"environment.":[82],"planning":[85],"herein":[88],"divided":[90],"into":[91],"three":[92],"procedures":[93,151],"follows:":[95],"1)":[96],"inverse":[98,113],"kinematics":[99,114],"by":[100,115],"analytical":[102],"obstacles,":[110],"2)":[111],"semi-analytical":[117],"pose,":[123],"3)":[125],"generating":[126],"from":[129],"start":[131],"pose":[132],"one.":[136],"computational":[138],"simulator":[139],"arbitrary":[146],"based":[148],"on":[149],"these":[150],"developed.":[153]},"counts_by_year":[{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
