{"id":"https://openalex.org/W4313071561","doi":"https://doi.org/10.1109/iros47612.2022.9981086","title":"Jerk-continuous Online Trajectory Generation for Robot Manipulator with Arbitrary Initial State and Kinematic Constraints","display_name":"Jerk-continuous Online Trajectory Generation for Robot Manipulator with Arbitrary Initial State and Kinematic Constraints","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4313071561","doi":"https://doi.org/10.1109/iros47612.2022.9981086"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981086","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981086","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5006296045","display_name":"Haoran Zhao","orcid":"https://orcid.org/0000-0002-6797-709X"},"institutions":[{"id":"https://openalex.org/I44461941","display_name":"University of Houston","ror":"https://ror.org/048sx0r50","country_code":"US","type":"education","lineage":["https://openalex.org/I44461941"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Haoran Zhao","raw_affiliation_strings":["University of Houston,Department of Electrical and Computer Engineering,Houston,TX,USA","Department of Electrical and Computer Engineering, University of Houston, Houston, TX, USA"],"affiliations":[{"raw_affiliation_string":"University of Houston,Department of Electrical and Computer Engineering,Houston,TX,USA","institution_ids":["https://openalex.org/I44461941"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Houston, Houston, TX, USA","institution_ids":["https://openalex.org/I44461941"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051798327","display_name":"Nihal Abdurahiman","orcid":null},"institutions":[{"id":"https://openalex.org/I49828101","display_name":"Hamad Medical Corporation","ror":"https://ror.org/02zwb6n98","country_code":"QA","type":"nonprofit","lineage":["https://openalex.org/I49828101"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"Nihal Abdurahiman","raw_affiliation_strings":["Hamad Medical Corporation,Department of Surgery,Doha,Qatar","Department of Surgery, Hamad Medical Corporation, Doha, Qatar"],"affiliations":[{"raw_affiliation_string":"Hamad Medical Corporation,Department of Surgery,Doha,Qatar","institution_ids":["https://openalex.org/I49828101"]},{"raw_affiliation_string":"Department of Surgery, Hamad Medical Corporation, Doha, Qatar","institution_ids":["https://openalex.org/I49828101"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081271259","display_name":"Nikhil V. Navkar","orcid":null},"institutions":[{"id":"https://openalex.org/I49828101","display_name":"Hamad Medical Corporation","ror":"https://ror.org/02zwb6n98","country_code":"QA","type":"nonprofit","lineage":["https://openalex.org/I49828101"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"Nikhil Navkar","raw_affiliation_strings":["Hamad Medical Corporation,Department of Surgery,Doha,Qatar","Department of Surgery, Hamad Medical Corporation, Doha, Qatar"],"affiliations":[{"raw_affiliation_string":"Hamad Medical Corporation,Department of Surgery,Doha,Qatar","institution_ids":["https://openalex.org/I49828101"]},{"raw_affiliation_string":"Department of Surgery, Hamad Medical Corporation, Doha, Qatar","institution_ids":["https://openalex.org/I49828101"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047189147","display_name":"Julien Leclerc","orcid":"https://orcid.org/0000-0003-3608-4202"},"institutions":[{"id":"https://openalex.org/I44461941","display_name":"University of Houston","ror":"https://ror.org/048sx0r50","country_code":"US","type":"education","lineage":["https://openalex.org/I44461941"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Julien Leclerc","raw_affiliation_strings":["University of Houston,Department of Electrical and Computer Engineering,Houston,TX,USA","Department of Electrical and Computer Engineering, University of Houston, Houston, TX, USA"],"affiliations":[{"raw_affiliation_string":"University of Houston,Department of Electrical and Computer Engineering,Houston,TX,USA","institution_ids":["https://openalex.org/I44461941"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Houston, Houston, TX, USA","institution_ids":["https://openalex.org/I44461941"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062449649","display_name":"Aaron T. Becker","orcid":"https://orcid.org/0000-0001-7614-6282"},"institutions":[{"id":"https://openalex.org/I44461941","display_name":"University of Houston","ror":"https://ror.org/048sx0r50","country_code":"US","type":"education","lineage":["https://openalex.org/I44461941"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron T. Becker","raw_affiliation_strings":["University of Houston,Department of Electrical and Computer Engineering,Houston,TX,USA","Department of Electrical and Computer Engineering, University of Houston, Houston, TX, USA"],"affiliations":[{"raw_affiliation_string":"University of Houston,Department of Electrical and Computer Engineering,Houston,TX,USA","institution_ids":["https://openalex.org/I44461941"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Houston, Houston, TX, USA","institution_ids":["https://openalex.org/I44461941"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5006296045"],"corresponding_institution_ids":["https://openalex.org/I44461941"],"apc_list":null,"apc_paid":null,"fwci":0.1195,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.45223563,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"5730","last_page":"5736"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991000294685364,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9980000257492065,"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/jerk","display_name":"Jerk","score":0.9869468808174133},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8830742835998535},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.8185971975326538},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.7455993890762329},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7186838388442993},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6601199507713318},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6487760543823242},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5465244650840759},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4225974977016449},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20460361242294312},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15126490592956543},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13124147057533264},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.06909778714179993},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.05443817377090454}],"concepts":[{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.9869468808174133},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8830742835998535},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.8185971975326538},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.7455993890762329},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7186838388442993},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6601199507713318},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6487760543823242},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5465244650840759},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4225974977016449},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20460361242294312},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15126490592956543},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13124147057533264},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.06909778714179993},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.05443817377090454},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981086","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981086","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7344975954","display_name":null,"funder_award_id":"IIS-1553063,1849303,2130793","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320308269","display_name":"Alexander von Humboldt-Stiftung","ror":"https://ror.org/012kf4317"},{"id":"https://openalex.org/F4320332753","display_name":"Qatar National Research Fund","ror":"https://ror.org/01svaqq28"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W152243833","https://openalex.org/W1630678085","https://openalex.org/W1973919856","https://openalex.org/W1974596055","https://openalex.org/W1998560353","https://openalex.org/W2004815408","https://openalex.org/W2030044507","https://openalex.org/W2063992620","https://openalex.org/W2076048129","https://openalex.org/W2099454002","https://openalex.org/W2102623571","https://openalex.org/W2113265921","https://openalex.org/W2136884716","https://openalex.org/W2153628631","https://openalex.org/W2225813005","https://openalex.org/W2327853455","https://openalex.org/W2406349093","https://openalex.org/W2499889317","https://openalex.org/W2610135787","https://openalex.org/W2801475537","https://openalex.org/W3035291983","https://openalex.org/W3174299515","https://openalex.org/W6636808768","https://openalex.org/W6724061195","https://openalex.org/W6724298597","https://openalex.org/W6751160297"],"related_works":["https://openalex.org/W2376623953","https://openalex.org/W2352897580","https://openalex.org/W2118664347","https://openalex.org/W3049304016","https://openalex.org/W2348411017","https://openalex.org/W1977630140","https://openalex.org/W2039317814","https://openalex.org/W2019544916","https://openalex.org/W2568861134","https://openalex.org/W4232942130"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"an":[3],"online":[4],"trajectory":[5,27,54],"generation":[6],"algorithm":[7,60,75],"using":[8,84],"a":[9,25,29,70,85],"sinusoidal":[10],"jerk":[11],"profile.":[12],"The":[13,58],"generator":[14],"takes":[15],"initial":[16],"acceleration,":[17,34],"velocity":[18,36],"and":[19,23,35,43,53,66,78,91],"position":[20,31],"as":[21],"input,":[22],"plans":[24],"multi-segment":[26],"to":[28],"goal":[30],"under":[32],"jerk,":[33],"limits.":[37],"By":[38],"analyzing":[39],"the":[40,45,50,74,89],"critical":[41],"constraints":[42],"conditions,":[44],"corresponding":[46],"closed-form":[47],"solution":[48],"for":[49],"time":[51],"factors":[52],"profiles":[55],"are":[56],"derived.":[57],"proposed":[59],"was":[61,76],"first":[62],"derived":[63],"in":[64,80],"Mathematica":[65,90],"then":[67],"converted":[68],"into":[69],"C++":[71,92],"implementation.":[72],"Finally,":[73],"utilized":[77],"demonstrated":[79],"ROS":[81],"&":[82],"Gazebo":[83],"UR3":[86],"robot.":[87],"Both":[88],"implementations":[93],"can":[94],"be":[95],"accessed":[96],"at":[97],"https://github.com/Haoran-Zhao/Jerk-continuous-online-trajectory-generator-with-constraints.git":[98]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}
