{"id":"https://openalex.org/W4384787630","doi":"https://doi.org/10.1109/jsyst.2023.3292430","title":"Motion Planning of Redundant Dual-Arm Robots With Multicriterion Optimization","display_name":"Motion Planning of Redundant Dual-Arm Robots With Multicriterion Optimization","publication_year":2023,"publication_date":"2023-07-18","ids":{"openalex":"https://openalex.org/W4384787630","doi":"https://doi.org/10.1109/jsyst.2023.3292430"},"language":"en","primary_location":{"id":"doi:10.1109/jsyst.2023.3292430","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsyst.2023.3292430","pdf_url":null,"source":{"id":"https://openalex.org/S95999327","display_name":"IEEE Systems Journal","issn_l":"1932-8184","issn":["1932-8184","1937-9234","2373-7816"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Systems Journal","raw_type":"journal-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/A5100354769","display_name":"Yang Zhang","orcid":"https://orcid.org/0000-0003-1256-4711"},"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":true,"raw_author_name":"Yang Zhang","raw_affiliation_strings":["School of Energy and Power Engineering, Beihang University (BUAA), Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Energy and Power Engineering, Beihang University (BUAA), Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100731040","display_name":"Yingmin Jia","orcid":"https://orcid.org/0000-0002-6212-9796"},"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":"Yingmin Jia","raw_affiliation_strings":["Seventh Research Division and the Center for Information and Control, School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing, China"],"affiliations":[{"raw_affiliation_string":"Seventh Research Division and the Center for Information and Control, School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100354769"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":4.1149,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.94510223,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"17","issue":"3","first_page":"4189","last_page":"4199"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9994999766349792,"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":0.9991999864578247,"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/quadratic-programming","display_name":"Quadratic programming","score":0.6436270475387573},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.631695032119751},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.618759036064148},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5991674661636353},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.560990035533905},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.5146125555038452},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4752005338668823},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.4537730813026428},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.44188937544822693},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4411265254020691},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4258812963962555},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41583284735679626},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3518439531326294},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.3084196448326111},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15815216302871704},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14786022901535034},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10121911764144897}],"concepts":[{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.6436270475387573},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.631695032119751},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.618759036064148},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5991674661636353},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.560990035533905},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.5146125555038452},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4752005338668823},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.4537730813026428},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.44188937544822693},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4411265254020691},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4258812963962555},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41583284735679626},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3518439531326294},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.3084196448326111},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15815216302871704},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14786022901535034},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10121911764144897},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jsyst.2023.3292430","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsyst.2023.3292430","pdf_url":null,"source":{"id":"https://openalex.org/S95999327","display_name":"IEEE Systems Journal","issn_l":"1932-8184","issn":["1932-8184","1937-9234","2373-7816"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Systems Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G4193457338","display_name":null,"funder_award_id":"2012CB821201","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G5735234674","display_name":null,"funder_award_id":"61520106010","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6626896222","display_name":null,"funder_award_id":"62133001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G847389851","display_name":null,"funder_award_id":"2012CB821200","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W405308472","https://openalex.org/W1424654272","https://openalex.org/W1904453390","https://openalex.org/W1945123189","https://openalex.org/W1971086298","https://openalex.org/W1971608239","https://openalex.org/W1979259608","https://openalex.org/W1982100856","https://openalex.org/W1982547038","https://openalex.org/W2010182084","https://openalex.org/W2025302331","https://openalex.org/W2028173473","https://openalex.org/W2040078376","https://openalex.org/W2044070705","https://openalex.org/W2044252273","https://openalex.org/W2055127591","https://openalex.org/W2066421970","https://openalex.org/W2068190491","https://openalex.org/W2074895076","https://openalex.org/W2075929513","https://openalex.org/W2089630413","https://openalex.org/W2099915711","https://openalex.org/W2105087206","https://openalex.org/W2114000612","https://openalex.org/W2119109765","https://openalex.org/W2125503755","https://openalex.org/W2126701792","https://openalex.org/W2127832757","https://openalex.org/W2130613790","https://openalex.org/W2142224528","https://openalex.org/W2147168033","https://openalex.org/W2164589602","https://openalex.org/W2164643146","https://openalex.org/W2165216595","https://openalex.org/W2189076595","https://openalex.org/W2320173400","https://openalex.org/W2540104143","https://openalex.org/W2595448953","https://openalex.org/W2626801459","https://openalex.org/W2766705522","https://openalex.org/W2767708052","https://openalex.org/W2784320602","https://openalex.org/W2897873640","https://openalex.org/W2915278269","https://openalex.org/W2963805730","https://openalex.org/W2973843340","https://openalex.org/W3006653248","https://openalex.org/W3043921574","https://openalex.org/W3091920452","https://openalex.org/W3104753760","https://openalex.org/W3115805342","https://openalex.org/W3130728025","https://openalex.org/W3155984400","https://openalex.org/W4292973178","https://openalex.org/W4293555083","https://openalex.org/W6675251542"],"related_works":["https://openalex.org/W4385452609","https://openalex.org/W1992538606","https://openalex.org/W1764572413","https://openalex.org/W2746642893","https://openalex.org/W4313255720","https://openalex.org/W3150915502","https://openalex.org/W2160983430","https://openalex.org/W2749023251","https://openalex.org/W2766493616","https://openalex.org/W4296340444"],"abstract_inverted_index":{"In":[0],"this":[1,75],"article,":[2],"we":[3,43,105],"develop":[4],"a":[5,82,124,129],"novel":[6],"tricriteria":[7],"coordinated":[8,146],"motion":[9,58,147],"planning":[10,148],"scheme":[11],"for":[12,29],"the":[13,18,38,45,64,94,99,102,107,115,119,139,144],"redundant":[14,39,131],"dual-arm":[15,111,132],"robot":[16,133],"at":[17],"velocity":[19,55],"level.":[20],"The":[21],"optimization":[22,47,77,95,108,116],"criteria":[23,52],"are":[24,70,134],"designed":[25],"to":[26,110,137],"avoid":[27],"problems":[28],"both":[30],"joint":[31,69],"angle":[32],"drift":[33],"and":[34,60,97,141],"kinematic":[35],"singularity":[36],"of":[37,67,101,118,143],"robotic":[40,121],"arm.":[41],"First,":[42],"establish":[44],"preliminary":[46,76],"equation":[48,78,96],"by":[49,113],"putting":[50],"together":[51],"including":[53],"minimum":[54],"norm,":[56],"repetitive":[57],"planning,":[59],"maximum":[61],"manipulability.":[62],"Meanwhile,":[63],"physical":[65],"limitations":[66],"each":[68],"viewed":[71],"as":[72],"constraints.":[73],"Second,":[74],"is":[79],"transformed":[80],"into":[81],"constrained":[83],"convex":[84],"quadratic":[85],"programming":[86],"problem":[87],"so":[88],"that":[89],"various":[90],"solvers":[91],"can":[92],"solve":[93],"guarantee":[98],"optimality":[100],"solution.":[103],"Finally,":[104],"generalize":[106],"strategy":[109],"robots":[112],"solving":[114],"equations":[117],"two":[120],"arms":[122],"in":[123],"unified":[125],"framework.":[126],"Experiments":[127],"on":[128],"virtual":[130],"carried":[135],"out":[136],"validate":[138],"effectiveness":[140],"feasibility":[142],"proposed":[145],"scheme.":[149]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-09T08:58:05.943551","created_date":"2025-10-10T00:00:00"}
