{"id":"https://openalex.org/W1965568013","doi":"https://doi.org/10.1109/iros.2007.4399613","title":"Redundancy optimization of hyper redundant robots based on movability and assistability","display_name":"Redundancy optimization of hyper redundant robots based on movability and assistability","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W1965568013","doi":"https://doi.org/10.1109/iros.2007.4399613","mag":"1965568013"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399613","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399613","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":"conference-paper","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/A5004052704","display_name":"Daisuke Matsuura","orcid":"https://orcid.org/0000-0003-4898-4689"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Daisuke Matsuura","raw_affiliation_strings":["Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, Tokyo, Japan","Tokyo Inst. of Technol., Tokyo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Tokyo Inst. of Technol., Tokyo","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109502258","display_name":"Nobuyuki IWATSUKI","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Nobuyuki Iwatsuki","raw_affiliation_strings":["Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, Tokyo, Japan","Tokyo Inst. of Technol., Tokyo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Tokyo Inst. of Technol., Tokyo","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050261001","display_name":"Masafumi OKADA","orcid":"https://orcid.org/0000-0002-7715-5292"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masafumi Okada","raw_affiliation_strings":["Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, Tokyo, Japan","Tokyo Inst. of Technol., Tokyo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Tokyo Inst. of Technol., Tokyo","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.06528861,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"smc 7","issue":null,"first_page":"2534","last_page":"2539"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9955999851226807,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/redundancy","display_name":"Redundancy (engineering)","score":0.8638039827346802},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.8381980657577515},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.6812885403633118},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6291608810424805},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6097277402877808},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5959112644195557},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5727150440216064},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4763103723526001},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4540683627128601},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.43023642897605896},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.30048954486846924},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2908795475959778},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23862016201019287},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.20521113276481628},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1826997697353363},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.07567819952964783}],"concepts":[{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.8638039827346802},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.8381980657577515},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.6812885403633118},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6291608810424805},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6097277402877808},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5959112644195557},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5727150440216064},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4763103723526001},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4540683627128601},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.43023642897605896},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.30048954486846924},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2908795475959778},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23862016201019287},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.20521113276481628},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1826997697353363},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.07567819952964783},{"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/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2007.4399613","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399613","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":13,"referenced_works":["https://openalex.org/W1575214394","https://openalex.org/W1608240698","https://openalex.org/W2016514184","https://openalex.org/W2042538399","https://openalex.org/W2049410986","https://openalex.org/W2049617391","https://openalex.org/W2069565322","https://openalex.org/W2117990468","https://openalex.org/W2154662383","https://openalex.org/W3088063282","https://openalex.org/W6634413214","https://openalex.org/W6636444167","https://openalex.org/W6662946448"],"related_works":["https://openalex.org/W2077539837","https://openalex.org/W2014652471","https://openalex.org/W2095636070","https://openalex.org/W2199301618","https://openalex.org/W2041321921","https://openalex.org/W4288680457","https://openalex.org/W2077895657","https://openalex.org/W2392646214","https://openalex.org/W2384277607","https://openalex.org/W1992604608"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,113],"new":[4],"method":[5],"to":[6,15,93],"utilize":[7],"redundancy":[8,17],"of":[9,21,27,46,54,77,81,84,121],"hyper":[10],"redundant":[11],"robots.":[12],"In":[13],"order":[14],"use":[16],"effectively,":[18],"the":[19,25,28,38,51,58,62,72,78,88,102,119,122],"contribution":[20],"all":[22],"actuators":[23],"for":[24,33,61],"achievement":[26],"target":[29,35,63],"motions":[30,36,64],"and":[31,57,74,110],"capability":[32],"unpredictable":[34],"in":[37],"future":[39],"should":[40],"be":[41],"considered.":[42],"From":[43],"this":[44],"point":[45],"view,":[47],"two":[48],"evaluation":[49],"indices,":[50],"movability":[52],"index":[53,60],"each":[55,85],"joint":[56,91],"assistability":[59],"are":[65,69,98],"proposed.":[66],"These":[67],"indices":[68,96],"formulated":[70],"with":[71,112],"angle":[73],"amplitude":[75],"distribution":[76],"column":[79],"vectors":[80],"Jacobian":[82],"matrices":[83],"joint,":[86],"including":[87],"end-effector.":[89],"Then":[90],"input":[92],"optimize":[94],"these":[95],"simultaneously":[97],"derived":[99],"based":[100],"on":[101],"improved":[103],"gradient":[104],"projection":[105],"method.":[106,124],"Motion":[107],"control":[108],"simulations":[109],"experiments":[111],"planar":[114],"10R":[115],"serial":[116],"manipulator":[117],"revealed":[118],"effectiveness":[120],"proposed":[123]},"counts_by_year":[{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
