{"id":"https://openalex.org/W4312584740","doi":"https://doi.org/10.1109/iros47612.2022.9981714","title":"Optimal Nonprehensile Interception Strategy for Objects in Flight","display_name":"Optimal Nonprehensile Interception Strategy for Objects in Flight","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312584740","doi":"https://doi.org/10.1109/iros47612.2022.9981714"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981714","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981714","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/A5076400419","display_name":"Cheng Zhou","orcid":"https://orcid.org/0000-0003-0770-2649"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Cheng Zhou","raw_affiliation_strings":["Tencent Robotics X,Shenzhen,Guangdong,China","Tencent Robotics X, Shenzhen, Guangdong, China"],"affiliations":[{"raw_affiliation_string":"Tencent Robotics X,Shenzhen,Guangdong,China","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"Tencent Robotics X, Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009790504","display_name":"Yanbo Long","orcid":null},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Yanbo Long","raw_affiliation_strings":["Tencent Robotics X,Shenzhen,Guangdong,China","Tencent Robotics X, Shenzhen, Guangdong, China","University of Bristol, Bristol, UK"],"affiliations":[{"raw_affiliation_string":"Tencent Robotics X,Shenzhen,Guangdong,China","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"Tencent Robotics X, Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"University of Bristol, Bristol, UK","institution_ids":["https://openalex.org/I36234482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006907783","display_name":"Ying Cao","orcid":"https://orcid.org/0000-0002-9288-3167"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]},{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying Cao","raw_affiliation_strings":["Tencent Robotics X,Shenzhen,Guangdong,China","Tencent Robotics X, Shenzhen, Guangdong, China","WuHan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Tencent Robotics X,Shenzhen,Guangdong,China","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"Tencent Robotics X, Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"WuHan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100577302","display_name":"Longfei Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longfei Zhao","raw_affiliation_strings":["Tencent Robotics X,Shenzhen,Guangdong,China","Tencent Robotics X, Shenzhen, Guangdong, China"],"affiliations":[{"raw_affiliation_string":"Tencent Robotics X,Shenzhen,Guangdong,China","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"Tencent Robotics X, Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074243843","display_name":"Bidan Huang","orcid":"https://orcid.org/0000-0001-6812-055X"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bidan Huang","raw_affiliation_strings":["Tencent Robotics X,Shenzhen,Guangdong,China","Tencent Robotics X, Shenzhen, Guangdong, China"],"affiliations":[{"raw_affiliation_string":"Tencent Robotics X,Shenzhen,Guangdong,China","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"Tencent Robotics X, Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103176848","display_name":"Y. Zheng","orcid":"https://orcid.org/0000-0002-4617-3252"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Zheng","raw_affiliation_strings":["Tencent Robotics X,Shenzhen,Guangdong,China","Tencent Robotics X, Shenzhen, Guangdong, China"],"affiliations":[{"raw_affiliation_string":"Tencent Robotics X,Shenzhen,Guangdong,China","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"Tencent Robotics X, Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I2250653659"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5076400419"],"corresponding_institution_ids":["https://openalex.org/I2250653659"],"apc_list":null,"apc_paid":null,"fwci":0.1806,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.52809069,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3130","last_page":"3136"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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":0.9994000196456909,"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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7500699758529663},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6312034130096436},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5827897191047668},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5820433497428894},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5786537528038025},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5547505617141724},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5221439003944397},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.468117892742157},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4509989619255066},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4482036232948303},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.42979419231414795},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3818230926990509},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21904420852661133},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08625984191894531}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7500699758529663},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6312034130096436},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5827897191047668},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5820433497428894},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5786537528038025},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5547505617141724},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5221439003944397},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.468117892742157},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4509989619255066},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4482036232948303},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.42979419231414795},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3818230926990509},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21904420852661133},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08625984191894531},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981714","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981714","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W283036238","https://openalex.org/W1569719443","https://openalex.org/W1793265611","https://openalex.org/W1964458699","https://openalex.org/W2013439434","https://openalex.org/W2018020788","https://openalex.org/W2043907127","https://openalex.org/W2081462310","https://openalex.org/W2095905067","https://openalex.org/W2134781609","https://openalex.org/W2162307231","https://openalex.org/W2323897531","https://openalex.org/W2474498487","https://openalex.org/W2743282526","https://openalex.org/W2770523967","https://openalex.org/W2789539638","https://openalex.org/W2797121477","https://openalex.org/W2899186968","https://openalex.org/W2906695929","https://openalex.org/W2909553221","https://openalex.org/W2910324469","https://openalex.org/W2998622682","https://openalex.org/W2999176108","https://openalex.org/W3011480163","https://openalex.org/W3087909510","https://openalex.org/W3133097009","https://openalex.org/W3134335022","https://openalex.org/W3171189531","https://openalex.org/W4246394278","https://openalex.org/W4285021062","https://openalex.org/W4285102179"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W4248382324","https://openalex.org/W3131574667","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W2157008402","https://openalex.org/W2592302855","https://openalex.org/W2101105382"],"abstract_inverted_index":{"Intercepting":[0],"an":[1],"object":[2,21,63,89],"in":[3],"flight":[4],"through":[5],"nonpre-hensile":[6],"manipulation":[7],"is":[8,13,98],"a":[9,19,37,67,91],"challenging":[10],"problem,":[11],"which":[12],"aimed":[14],"at":[15],"catching":[16],"and":[17,53,84,90,109],"stopping":[18],"flying":[20],"using":[22],"little":[23],"contacts":[24],"without":[25],"completely":[26],"restraining":[27],"its":[28],"relative":[29],"motion":[30,86],"to":[31,43,60,79,100,114],"the":[32,48,57,62,71,74,82,88,102,116,119],"robot.":[33],"This":[34],"paper":[35],"presents":[36],"two-stage":[38],"optimal":[39,51],"trajectory":[40,103],"generation":[41],"method":[42],"tackle":[44],"this":[45],"problem.":[46],"At":[47,70],"pre-catching":[49],"stage,":[50,73],"position":[52],"attitude":[54],"trajectories":[55,76],"of":[56,87,107,118],"robot's":[58],"end-effector":[59],"approach":[61],"are":[64,77],"generated":[65,78],"by":[66],"variational":[68],"method.":[69,121],"post-catching":[72],"end-effector's":[75],"optimally":[80],"eliminate":[81],"translational":[83],"rotational":[85],"convex-MPC":[92],"algorithm":[93],"combined":[94],"with":[95],"admittance":[96],"control":[97],"used":[99],"realize":[101],"tracking.":[104],"A":[105],"series":[106],"simulations":[108],"experiments":[110],"have":[111],"been":[112],"conducted":[113],"verify":[115],"effectiveness":[117],"proposed":[120]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}