{"id":"https://openalex.org/W4416750076","doi":"https://doi.org/10.1109/iros60139.2025.11246013","title":"A Reconfigurable Manipulator with Sch\u00f6nflies and RCM Motions","display_name":"A Reconfigurable Manipulator with Sch\u00f6nflies and RCM Motions","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750076","doi":"https://doi.org/10.1109/iros60139.2025.11246013"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246013","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246013","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5005913814","display_name":"Tianye Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianye Xu","raw_affiliation_strings":["Robotics Institute, Beihang University,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009231552","display_name":"Shengnan Lyu","orcid":"https://orcid.org/0000-0002-5990-6144"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengnan Lyu","raw_affiliation_strings":["Robotics Institute, Beihang University,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059209683","display_name":"Xilun Ding","orcid":"https://orcid.org/0000-0002-9752-3937"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xilun Ding","raw_affiliation_strings":["Robotics Institute, Beihang University,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.32275018,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"12341","last_page":"12346"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9549000263214111,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9549000263214111,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.026799999177455902,"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/T10868","display_name":"Soft Robotics and Applications","score":0.0019000000320374966,"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/kinematics","display_name":"Kinematics","score":0.7968000173568726},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.6466000080108643},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6380000114440918},{"id":"https://openalex.org/keywords/scara","display_name":"SCARA","score":0.5512999892234802},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.3668000102043152},{"id":"https://openalex.org/keywords/smt-placement-equipment","display_name":"SMT placement equipment","score":0.3621000051498413},{"id":"https://openalex.org/keywords/remote-control","display_name":"Remote control","score":0.35339999198913574},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.32010000944137573},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.3181000053882599}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7968000173568726},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.6466000080108643},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6380000114440918},{"id":"https://openalex.org/C158732272","wikidata":"https://www.wikidata.org/wiki/Q1484792","display_name":"SCARA","level":3,"score":0.5512999892234802},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48489999771118164},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42289999127388},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3833000063896179},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.3668000102043152},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.3621000051498413},{"id":"https://openalex.org/C557691694","wikidata":"https://www.wikidata.org/wiki/Q185091","display_name":"Remote control","level":2,"score":0.35339999198913574},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.32010000944137573},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.3181000053882599},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.3100999891757965},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.30959999561309814},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.304500013589859},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.30309998989105225},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.299699991941452},{"id":"https://openalex.org/C171046052","wikidata":"https://www.wikidata.org/wiki/Q29301","display_name":"Kinematic diagram","level":4,"score":0.29350000619888306},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2921000123023987},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.2856999933719635},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2800000011920929},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.2734000086784363},{"id":"https://openalex.org/C69769044","wikidata":"https://www.wikidata.org/wiki/Q2041113","display_name":"Stewart platform","level":3,"score":0.26269999146461487},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.26170000433921814},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.25780001282691956},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.25679999589920044},{"id":"https://openalex.org/C2778697102","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Remote operation","level":2,"score":0.2538999915122986}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246013","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246013","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W2065419123","https://openalex.org/W2808508330","https://openalex.org/W2963079523","https://openalex.org/W3126587741","https://openalex.org/W3145785845","https://openalex.org/W3198476225","https://openalex.org/W4223630287","https://openalex.org/W4225796442","https://openalex.org/W4232027606","https://openalex.org/W4285307148","https://openalex.org/W4288926651","https://openalex.org/W4302363315","https://openalex.org/W4308567043","https://openalex.org/W4366122462","https://openalex.org/W4379033779","https://openalex.org/W4401151959","https://openalex.org/W4402592574","https://openalex.org/W4403387754"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,32,36,49,58,111],"design":[4],"of":[5,10,16],"a":[6,28,42,63,69],"reconfigurable":[7],"manipulator":[8,50],"capable":[9],"performing":[11],"Sch\u00f6nflies":[12,21],"and":[13,57,80,118],"Remote":[14],"Center":[15],"Motion":[17],"(RCM)":[18],"operations.":[19],"The":[20,72,96],"mode":[22,34],"handles":[23],"plane":[24,115],"objects":[25],"efficiently,":[26],"like":[27],"SCARA":[29],"robot,":[30],"while":[31],"RCM":[33],"enables":[35],"remote":[37,119],"center":[38,120],"operation,":[39],"similar":[40],"to":[41,86],"Da":[43],"Vinci":[44],"robot.":[45],"Through":[46],"kinematic":[47,73,98],"reconfiguration,":[48],"achieves":[51],"multimodal":[52],"operations":[53],"without":[54,100],"component":[55],"replacement,":[56],"1R1T":[59],"module":[60],"based":[61],"on":[62],"spline":[64],"lead":[65],"screw":[66],"mechanism":[67],"ensures":[68],"compact":[70],"structure.":[71],"reconfiguration":[74],"is":[75],"analyzed":[76],"in":[77,92,105,114],"this":[78],"paper,":[79],"mapping":[81],"rules":[82],"from":[83],"joint":[84],"space":[85,88],"Cartesian":[87],"are":[89],"respectively":[90],"enabled":[91],"different":[93],"operation":[94],"modes.":[95,107],"concise":[97],"expression":[99],"actuation":[101],"redundancy":[102],"simplifies":[103],"control":[104],"both":[106],"Experimental":[108],"results":[109],"confirm":[110],"manipulator\u2019s":[112],"versatility":[113],"object":[116],"handling":[117],"operations,":[121],"highlighting":[122],"its":[123],"effectiveness":[124],"across":[125],"diverse":[126],"applications.":[127]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}
