{"id":"https://openalex.org/W4405787548","doi":"https://doi.org/10.1109/iros58592.2024.10801587","title":"Trajectory Planning for Non-Prehensile Object Transportation","display_name":"Trajectory Planning for Non-Prehensile Object Transportation","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405787548","doi":"https://doi.org/10.1109/iros58592.2024.10801587"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801587","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801587","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5100763474","display_name":"Lingyun Chen","orcid":"https://orcid.org/0000-0001-5302-4450"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Lingyun Chen","raw_affiliation_strings":["Technical University of Munich,Munich Institute of Robotics and Machine Intelligence and the Chair of Robotics Science and Systems Intelligence,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Munich Institute of Robotics and Machine Intelligence and the Chair of Robotics Science and Systems Intelligence,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004238004","display_name":"Haoyu Yu","orcid":"https://orcid.org/0000-0003-3671-0402"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Haoyu Yu","raw_affiliation_strings":["Technical University of Munich,Munich Institute of Robotics and Machine Intelligence and the Chair of Robotics Science and Systems Intelligence,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Munich Institute of Robotics and Machine Intelligence and the Chair of Robotics Science and Systems Intelligence,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111122200","display_name":"Liding Zhang","orcid":"https://orcid.org/0009-0007-0119-706X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Liding Zhang","raw_affiliation_strings":["Technical University of Munich,Munich Institute of Robotics and Machine Intelligence and the Chair of Robotics Science and Systems Intelligence,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Munich Institute of Robotics and Machine Intelligence and the Chair of Robotics Science and Systems Intelligence,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004124482","display_name":"Abdeldjallil Naceri","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Abdeldjallil Naceri","raw_affiliation_strings":["Technical University of Munich,Munich Institute of Robotics and Machine Intelligence and the Chair of Robotics Science and Systems Intelligence,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Munich Institute of Robotics and Machine Intelligence and the Chair of Robotics Science and Systems Intelligence,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047256346","display_name":"Abdalla Swikir","orcid":"https://orcid.org/0000-0002-4154-7446"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Abdalla Swikir","raw_affiliation_strings":["Technical University of Munich,Munich Institute of Robotics and Machine Intelligence and the Chair of Robotics Science and Systems Intelligence,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Munich Institute of Robotics and Machine Intelligence and the Chair of Robotics Science and Systems Intelligence,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Technical University of Munich,Munich Institute of Robotics and Machine Intelligence and the Chair of Robotics Science and Systems Intelligence,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Munich Institute of Robotics and Machine Intelligence and the Chair of Robotics Science and Systems Intelligence,Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100763474"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.2235,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.55045044,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"9939","last_page":"9946"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.989300012588501,"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":0.989300012588501,"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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9829000234603882,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T12176","display_name":"Optimization and Packing Problems","score":0.9034000039100647,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/prehensile-tail","display_name":"Prehensile tail","score":0.955153226852417},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6151779294013977},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6054559946060181},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5300317406654358},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.41113904118537903},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2800430357456207},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.11365148425102234},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08418253064155579},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.058052629232406616}],"concepts":[{"id":"https://openalex.org/C136380597","wikidata":"https://www.wikidata.org/wiki/Q10508905","display_name":"Prehensile tail","level":2,"score":0.955153226852417},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6151779294013977},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6054559946060181},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5300317406654358},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.41113904118537903},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2800430357456207},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.11365148425102234},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08418253064155579},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.058052629232406616},{"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/iros58592.2024.10801587","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801587","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","score":0.41999998688697815,"id":"https://metadata.un.org/sdg/13"},{"display_name":"Sustainable cities and communities","score":0.4099999964237213,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1964458699","https://openalex.org/W2038890859","https://openalex.org/W2043907127","https://openalex.org/W2106178533","https://openalex.org/W2129787803","https://openalex.org/W2166950571","https://openalex.org/W2565478864","https://openalex.org/W2789539638","https://openalex.org/W2909948532","https://openalex.org/W3101027986","https://openalex.org/W3132826960","https://openalex.org/W4200419179","https://openalex.org/W4214570817","https://openalex.org/W4246394278","https://openalex.org/W4312334342","https://openalex.org/W4312584740","https://openalex.org/W4366503896","https://openalex.org/W4382657735","https://openalex.org/W4387623874","https://openalex.org/W6690960878","https://openalex.org/W6872625271"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2465876097","https://openalex.org/W2028231052","https://openalex.org/W2768832826","https://openalex.org/W3166169123","https://openalex.org/W2010045274","https://openalex.org/W2552641899","https://openalex.org/W2148088326"],"abstract_inverted_index":{"Non-prehensile":[0],"transportation":[1,87],"of":[2,15,34,73,82,102],"unstable":[3,104],"objects":[4],"presents":[5],"a":[6,53,74],"challenging":[7],"task":[8],"in":[9,85,94],"robotics.":[10],"To":[11],"ensure":[12],"the":[13,16,24,31,35,71,80],"success":[14],"transportation,":[17],"it":[18],"is":[19],"necessary":[20],"to":[21,92],"consider":[22],"both":[23],"object\u2019s":[25],"stability":[26],"via":[27],"contact":[28],"dynamics":[29],"and":[30,47,66],"motion":[32],"constraints":[33],"robot.":[36],"We":[37],"propose":[38],"two":[39],"novel":[40],"trajectory":[41],"planning":[42],"methods":[43],"derived":[44],"from":[45],"sampling":[46],"dynamic":[48],"programming":[49],"algorithms,":[50],"tested":[51],"on":[52],"7-DoF":[54],"Franka":[55],"Emika":[56],"robot":[57],"against":[58],"common":[59],"strategies":[60],"like":[61],"Model":[62],"Predictive":[63],"Control":[64],"(MPC)":[65],"S-curve":[67],"planning,":[68],"particularly":[69],"under":[70],"constraint":[72],"non-rotating":[75],"tray.":[76],"The":[77],"results":[78],"demonstrate":[79],"effectiveness":[81],"our":[83],"methodologies":[84],"improving":[86],"speed.":[88],"This":[89],"research":[90],"contributes":[91],"advancements":[93],"robotic":[95],"manipulation":[96,101],"techniques":[97],"by":[98],"tackling":[99],"non-prehensile":[100],"dynamically":[103],"objects.":[105]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-27T09:02:27.158192","created_date":"2025-10-10T00:00:00"}