{"id":"https://openalex.org/W1977785674","doi":"https://doi.org/10.1109/iros.2010.5648888","title":"Real-time adaptive motion planning for a continuum manipulator","display_name":"Real-time adaptive motion planning for a continuum manipulator","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W1977785674","doi":"https://doi.org/10.1109/iros.2010.5648888","mag":"1977785674"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5648888","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5648888","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5101878727","display_name":"Jing Xiao","orcid":"https://orcid.org/0000-0002-9953-5878"},"institutions":[{"id":"https://openalex.org/I102149020","display_name":"University of North Carolina at Charlotte","ror":"https://ror.org/04dawnj30","country_code":"US","type":"education","lineage":["https://openalex.org/I102149020"]},{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jing Xiao","raw_affiliation_strings":["Faculty of Computer Science, North Carolina State University, Charlotte, USA","[Faculty of Computer Science, University of North Carolina at Charlotte, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Computer Science, North Carolina State University, Charlotte, USA","institution_ids":["https://openalex.org/I137902535"]},{"raw_affiliation_string":"[Faculty of Computer Science, University of North Carolina at Charlotte, USA]","institution_ids":["https://openalex.org/I102149020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082716219","display_name":"Rayomand Vatcha","orcid":null},"institutions":[{"id":"https://openalex.org/I102149020","display_name":"University of North Carolina at Charlotte","ror":"https://ror.org/04dawnj30","country_code":"US","type":"education","lineage":["https://openalex.org/I102149020"]},{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R Vatcha","raw_affiliation_strings":["Computer Science, North Carolina State University, Charlotte, USA","[Computer Science,University of North Carolina at Charlotte, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science, North Carolina State University, Charlotte, USA","institution_ids":["https://openalex.org/I137902535"]},{"raw_affiliation_string":"[Computer Science,University of North Carolina at Charlotte, USA]","institution_ids":["https://openalex.org/I102149020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":55,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9966999888420105,"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/motion-planning","display_name":"Motion planning","score":0.6325196027755737},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6213616132736206},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6020519733428955},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5440070629119873},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46615490317344666},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4650588631629944},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4455749988555908},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43134158849716187},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4169306457042694},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0870501697063446},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.07005801796913147}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6325196027755737},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6213616132736206},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6020519733428955},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5440070629119873},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46615490317344666},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4650588631629944},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4455749988555908},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43134158849716187},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4169306457042694},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0870501697063446},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.07005801796913147}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2010.5648888","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5648888","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.188.790","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.188.790","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.uncc.edu/%7Exiao/pdf/IROS10.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7200000286102295}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W255922872","https://openalex.org/W1839510822","https://openalex.org/W1842017619","https://openalex.org/W1891615552","https://openalex.org/W1980039387","https://openalex.org/W2000359213","https://openalex.org/W2014502771","https://openalex.org/W2045581174","https://openalex.org/W2049105030","https://openalex.org/W2060978823","https://openalex.org/W2096645690","https://openalex.org/W2101073745","https://openalex.org/W2102287935","https://openalex.org/W2109983327","https://openalex.org/W2121877174","https://openalex.org/W2125503755","https://openalex.org/W2126998703","https://openalex.org/W2128990851","https://openalex.org/W2133755292","https://openalex.org/W2141097672","https://openalex.org/W2161675447","https://openalex.org/W2162502118","https://openalex.org/W3149513485","https://openalex.org/W6609661983","https://openalex.org/W6638720791","https://openalex.org/W6683982192"],"related_works":["https://openalex.org/W4206327962","https://openalex.org/W2010009304","https://openalex.org/W1996851061","https://openalex.org/W3021694725","https://openalex.org/W2025195393","https://openalex.org/W2940695648","https://openalex.org/W1973684381","https://openalex.org/W4251403274","https://openalex.org/W2096304864","https://openalex.org/W2038492089"],"abstract_inverted_index":{"Continuum":[0],"manipulators,":[1],"featuring":[2],"\u201ccontinuous":[3],"backbone":[4],"structures\u201d,":[5],"are":[6,121],"promising":[7],"for":[8,65,76,86,107],"deft":[9],"manipulation":[10,38],"of":[11,15,61,81,94,116,126],"a":[12,31,35,40,46,67,82,88],"wide":[13],"range":[14],"objects":[16,96],"under":[17,69],"uncertain":[18,70,98],"conditions":[19],"in":[20],"less-structured":[21],"and":[22,51],"cluttered":[23],"environments.":[24],"A":[25],"multi-section":[26],"trunk/tentacle":[27],"robot":[28,68,85],"is":[29],"such":[30,66],"continuum":[32,36,84],"manipulator.":[33],"With":[34],"robot,":[37],"means":[39],"continuous":[41],"whole-arm":[42,117],"motion,":[43],"often":[44],"without":[45],"clear":[47],"distinction":[48],"between":[49],"transport":[50],"grasping.":[52],"In":[53],"this":[54,113],"paper,":[55],"we":[56],"address":[57],"the":[58,79,104,124],"novel":[59],"problem":[60],"real-time":[62,108],"motion":[63,80,110],"planning":[64,78,111],"conditions.":[71],"We":[72],"present":[73],"an":[74,92],"algorithm":[75,101],"on-line":[77],"planar":[83],"grasping":[87],"target":[89],"object":[90],"amid":[91],"environment":[93],"other":[95],"with":[97],"movements.":[99],"Our":[100],"substantially":[102],"extends":[103],"RAMP":[105],"paradigm":[106],"adaptive":[109],"to":[112],"new":[114],"form":[115],"manipulation.":[118],"Simulation":[119],"results":[120],"promising,":[122],"demonstrating":[123],"effectiveness":[125],"our":[127],"approach.":[128]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}