{"id":"https://openalex.org/W3129923513","doi":"https://doi.org/10.1109/iros45743.2020.9341651","title":"On Screw Linear Interpolation for Point-to-Point Path Planning","display_name":"On Screw Linear Interpolation for Point-to-Point Path Planning","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3129923513","doi":"https://doi.org/10.1109/iros45743.2020.9341651","mag":"3129923513"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341651","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341651","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/A5045133173","display_name":"Anik Sarker","orcid":null},"institutions":[{"id":"https://openalex.org/I59553526","display_name":"Stony Brook University","ror":"https://ror.org/05qghxh33","country_code":"US","type":"education","lineage":["https://openalex.org/I59553526"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Anik Sarker","raw_affiliation_strings":["Department of Mechanical Engineering, Stony Brook University, Stony Brook, NY"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stony Brook University, Stony Brook, NY","institution_ids":["https://openalex.org/I59553526"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053236926","display_name":"Anirban Sinha","orcid":"https://orcid.org/0000-0002-7122-3549"},"institutions":[{"id":"https://openalex.org/I59553526","display_name":"Stony Brook University","ror":"https://ror.org/05qghxh33","country_code":"US","type":"education","lineage":["https://openalex.org/I59553526"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anirban Sinha","raw_affiliation_strings":["Department of Mechanical Engineering, Stony Brook University, Stony Brook, NY"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stony Brook University, Stony Brook, NY","institution_ids":["https://openalex.org/I59553526"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101455544","display_name":"Nilanjan Chakraborty","orcid":"https://orcid.org/0000-0003-0574-3041"},"institutions":[{"id":"https://openalex.org/I59553526","display_name":"Stony Brook University","ror":"https://ror.org/05qghxh33","country_code":"US","type":"education","lineage":["https://openalex.org/I59553526"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nilanjan Chakraborty","raw_affiliation_strings":["Department of Mechanical Engineering, Stony Brook University, Stony Brook, NY"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stony Brook University, Stony Brook, NY","institution_ids":["https://openalex.org/I59553526"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5045133173"],"corresponding_institution_ids":["https://openalex.org/I59553526"],"apc_list":null,"apc_paid":null,"fwci":1.3241,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.81019678,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"9480","last_page":"9487"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9995999932289124,"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":0.9995999932289124,"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":0.7418357133865356},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6132854223251343},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.5812826752662659},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.563338041305542},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5604572892189026},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5156461000442505},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.49003517627716064},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4825839102268219},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.47960102558135986},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.46982526779174805},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46537941694259644},{"id":"https://openalex.org/keywords/robotic-spacecraft","display_name":"Robotic spacecraft","score":0.4614803194999695},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4557187259197235},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.43829113245010376},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.43815919756889343},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.42229872941970825},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39889317750930786},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3844898045063019},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30202990770339966},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.16575035452842712},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1340389847755432},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1081400215625763},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08083093166351318}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7418357133865356},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6132854223251343},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.5812826752662659},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.563338041305542},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5604572892189026},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5156461000442505},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.49003517627716064},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4825839102268219},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.47960102558135986},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.46982526779174805},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46537941694259644},{"id":"https://openalex.org/C26355699","wikidata":"https://www.wikidata.org/wiki/Q1378139","display_name":"Robotic spacecraft","level":3,"score":0.4614803194999695},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4557187259197235},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.43829113245010376},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.43815919756889343},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.42229872941970825},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39889317750930786},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3844898045063019},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30202990770339966},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.16575035452842712},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1340389847755432},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1081400215625763},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08083093166351318},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341651","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341651","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":[{"score":0.7400000095367432,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1769585818","https://openalex.org/W2000359213","https://openalex.org/W2005286199","https://openalex.org/W2009124734","https://openalex.org/W2042803738","https://openalex.org/W2042913147","https://openalex.org/W2100790457","https://openalex.org/W2103776982","https://openalex.org/W2112474089","https://openalex.org/W2113260111","https://openalex.org/W2116341587","https://openalex.org/W2121349631","https://openalex.org/W2128990851","https://openalex.org/W2129644801","https://openalex.org/W2134447392","https://openalex.org/W2134513476","https://openalex.org/W2153577013","https://openalex.org/W2153628631","https://openalex.org/W2154356510","https://openalex.org/W2159857204","https://openalex.org/W2164032318","https://openalex.org/W2523915674","https://openalex.org/W6727446090"],"related_works":["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","https://openalex.org/W2292471743","https://openalex.org/W1521486918","https://openalex.org/W2168006543"],"abstract_inverted_index":{"Robot":[0],"motion":[1,117,135,138,147],"is":[2,77,88],"controlled":[3],"in":[4,15,91,110,137,163],"the":[5,9,35,38,66,69,92,101,111,122,154,188],"joint":[6,47,93,124],"space":[7,48,51,62,113,125,134,184],"whereas":[8],"robots":[10],"have":[11],"to":[12,107,120,129],"perform":[13],"tasks":[14,20,181],"their":[16],"task":[17,50,61,112,133,183],"space.":[18,94],"Many":[19],"like":[21,64],"carrying":[22,80],"a":[23,30,81,151],"glass":[24],"of":[25,68,83,103,153,156,190],"liquid,":[26,28],"pouring":[27],"opening":[29],"drawer":[31],"requires":[32],"constraints":[33,63,136,185],"on":[34,176],"end-effector":[36,70],"during":[37],"motion.":[39],"The":[40],"forward":[41],"and":[42,49,55,173],"inverse":[43],"kinematic":[44],"mappings":[45],"between":[46],"are":[52],"highly":[53],"nonlinear":[54],"multi-valued":[56],"(for":[57],"IK).":[58],"Consequently,":[59],"modeling":[60,142],"keeping":[65],"orientation":[67],"fixed":[71],"while":[72],"changing":[73],"its":[74],"position":[75],"(which":[76],"required":[78],"for":[79,179],"cup":[82],"liquid":[84],"without":[85,140,167],"dropping":[86],"it)":[87],"quite":[89],"complex":[90],"In":[95,144],"this":[96],"paper,":[97],"we":[98],"show":[99],"that":[100,149,186],"use":[102],"screw":[104],"linear":[105],"interpolation":[106],"plan":[108],"motions":[109,159],"combined":[114],"with":[115,182],"resolved":[116],"rate":[118],"control":[119],"compute":[121],"corresponding":[123],"path,":[126],"allows":[127],"one":[128],"satisfy":[130],"many":[131],"common":[132],"planning,":[139],"explicitly":[141],"them.":[143],"particular,":[145],"any":[146],"constraint":[148],"forms":[150],"subgroup":[152],"group":[155],"rigid":[157],"body":[158],"can":[160],"be":[161],"incorporated":[162],"our":[164,191],"planning":[165],"scheme,":[166],"explicit":[168],"modeling.":[169],"We":[170],"present":[171],"simulation":[172],"experimental":[174],"results":[175],"Baxter":[177],"robot":[178],"different":[180],"demonstrates":[187],"usefulness":[189],"approach.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}