{"id":"https://openalex.org/W3130912810","doi":"https://doi.org/10.1109/iros45743.2020.9341358","title":"TORM: Fast and Accurate Trajectory Optimization of Redundant Manipulator given an End-Effector Path","display_name":"TORM: Fast and Accurate Trajectory Optimization of Redundant Manipulator given an End-Effector Path","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3130912810","doi":"https://doi.org/10.1109/iros45743.2020.9341358","mag":"3130912810"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341358","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341358","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5011569987","display_name":"Mincheul Kang","orcid":"https://orcid.org/0000-0002-3003-0089"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Mincheul Kang","raw_affiliation_strings":["KAIST at Daejeon,School of Computing,Korea,34141"],"affiliations":[{"raw_affiliation_string":"KAIST at Daejeon,School of Computing,Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037696787","display_name":"Heechan Shin","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Heechan Shin","raw_affiliation_strings":["KAIST at Daejeon,School of Computing,Korea,34141"],"affiliations":[{"raw_affiliation_string":"KAIST at Daejeon,School of Computing,Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100682312","display_name":"Donghyuk Kim","orcid":"https://orcid.org/0000-0002-4979-7255"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Donghyuk Kim","raw_affiliation_strings":["KAIST at Daejeon,School of Computing,Korea,34141"],"affiliations":[{"raw_affiliation_string":"KAIST at Daejeon,School of Computing,Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078173428","display_name":"Sung\u2010Eui Yoon","orcid":"https://orcid.org/0000-0002-7123-1119"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sung-Eui Yoon","raw_affiliation_strings":["KAIST at Daejeon,Faculty of School of Computing,Korea,34141"],"affiliations":[{"raw_affiliation_string":"KAIST at Daejeon,Faculty of School of Computing,Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5011569987"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":1.3241,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.81023039,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"9417","last_page":"9424"},"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":0.9994999766349792,"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":0.9994000196456909,"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/robot-end-effector","display_name":"Robot end effector","score":0.7390729188919067},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7169482111930847},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6236146092414856},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6020435094833374},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5697436928749084},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.542645275592804},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5349292755126953},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.5320585370063782},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5268363356590271},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.487824946641922},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.4690675437450409},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.453813761472702},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4458405375480652},{"id":"https://openalex.org/keywords/gradient-descent","display_name":"Gradient descent","score":0.43398427963256836},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.41505977511405945},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.40612801909446716},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2946486473083496},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2878168821334839},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2492944598197937},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.23823660612106323},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.20774930715560913},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10435217618942261},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.09984123706817627}],"concepts":[{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.7390729188919067},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7169482111930847},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6236146092414856},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6020435094833374},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5697436928749084},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.542645275592804},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5349292755126953},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.5320585370063782},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5268363356590271},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.487824946641922},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.4690675437450409},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.453813761472702},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4458405375480652},{"id":"https://openalex.org/C153258448","wikidata":"https://www.wikidata.org/wiki/Q1199743","display_name":"Gradient descent","level":3,"score":0.43398427963256836},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.41505977511405945},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.40612801909446716},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2946486473083496},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2878168821334839},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2492944598197937},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.23823660612106323},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.20774930715560913},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10435217618942261},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.09984123706817627},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341358","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341358","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W1941845646","https://openalex.org/W2022831006","https://openalex.org/W2024721056","https://openalex.org/W2027561503","https://openalex.org/W2049410986","https://openalex.org/W2057134777","https://openalex.org/W2102128251","https://openalex.org/W2112271657","https://openalex.org/W2113260111","https://openalex.org/W2134447392","https://openalex.org/W2154847670","https://openalex.org/W2161819990","https://openalex.org/W2167542173","https://openalex.org/W2205340216","https://openalex.org/W2293883387","https://openalex.org/W2562184125","https://openalex.org/W2765226061","https://openalex.org/W2805114031","https://openalex.org/W2963481133","https://openalex.org/W2967129641","https://openalex.org/W2967293491","https://openalex.org/W2968835533","https://openalex.org/W2969124493","https://openalex.org/W6657227828","https://openalex.org/W6903373631"],"related_works":["https://openalex.org/W2115240519","https://openalex.org/W2080642692","https://openalex.org/W2039927751","https://openalex.org/W3047523153","https://openalex.org/W4226342200","https://openalex.org/W3016367173","https://openalex.org/W3040474838","https://openalex.org/W4391529045","https://openalex.org/W4294975949","https://openalex.org/W2172144564"],"abstract_inverted_index":{"A":[0],"redundant":[1,39],"manipulator":[2,40],"has":[3],"multiple":[4],"inverse":[5,75],"kinematics":[6,76],"solutions":[7],"per":[8],"end-effector":[9,23,50],"pose.":[10],"Accordingly,":[11],"there":[12],"can":[13],"be":[14],"many":[15],"trajectories":[16,115],"for":[17],"joints":[18],"that":[19,46],"follow":[20],"a":[21,34,38,44,48,88,145],"given":[22,49],"path":[24,51],"in":[25,127,144],"the":[26,67,73,102,141],"Cartesian":[27],"space.":[28],"In":[29],"this":[30],"paper,":[31],"we":[32,86,110],"present":[33],"trajectory":[35,45,68,89],"optimization":[36,69],"of":[37],"(TORM)":[41],"to":[42,94],"synthesize":[43],"follows":[47],"accurately,":[52],"while":[53,148],"achieving":[54],"smoothness":[55],"and":[56,79,133],"collision-free":[57],"manipulation.":[58],"Our":[59,137],"method":[60,78,123,138],"holistically":[61],"incorporates":[62],"three":[63],"desired":[64],"properties":[65,100],"into":[66,107],"process":[70],"by":[71],"integrating":[72],"Jacobian-based":[74],"solving":[77],"an":[80],"optimization-based":[81],"motion":[82],"planning":[83],"approach.":[84],"Specifically,":[85],"optimize":[87],"using":[90],"two-stage":[91],"gradient":[92],"descent":[93],"reduce":[95],"potential":[96],"competition":[97],"between":[98],"different":[99,113],"during":[101],"update.":[103,119],"To":[104],"avoid":[105],"falling":[106],"local":[108,118],"minima,":[109],"iteratively":[111],"explore":[112],"candidate":[114],"with":[116,124],"our":[117,122],"We":[120],"compare":[121],"state-of-the-art":[125],"methods":[126],"test":[128],"scenes":[129],"including":[130],"external":[131],"obstacles":[132],"two":[134],"non-obstacle":[135],"problems.":[136],"robustly":[139],"minimizes":[140],"pose":[142],"error":[143],"progressive":[146],"manner":[147],"satisfying":[149],"various":[150],"desirable":[151],"properties.":[152]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2}],"updated_date":"2025-12-01T00:03:43.161839","created_date":"2025-10-10T00:00:00"}