{"id":"https://openalex.org/W4392158578","doi":"https://doi.org/10.1109/lca.2024.3369940","title":"JANM-IK: Jacobian Argumented Nelder-Mead Algorithm for Inverse Kinematics and its Hardware Acceleration","display_name":"JANM-IK: Jacobian Argumented Nelder-Mead Algorithm for Inverse Kinematics and its Hardware Acceleration","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4392158578","doi":"https://doi.org/10.1109/lca.2024.3369940"},"language":"en","primary_location":{"id":"doi:10.1109/lca.2024.3369940","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lca.2024.3369940","pdf_url":null,"source":{"id":"https://openalex.org/S17643076","display_name":"IEEE Computer Architecture Letters","issn_l":"1556-6056","issn":["1556-6056","1556-6064","2473-2575"],"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 Computer Architecture Letters","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/A5101718570","display_name":"Yuxin Yang","orcid":"https://orcid.org/0009-0002-3007-3705"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxin Yang","raw_affiliation_strings":["Institute of Computing Technology, Chinese Academy of Sciences, Beijing, China","University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0002-3007-3705","affiliations":[{"raw_affiliation_string":"Institute of Computing Technology, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210090176","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100420361","display_name":"Xiaoming Chen","orcid":"https://orcid.org/0000-0002-7337-1844"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoming Chen","raw_affiliation_strings":["Institute of Computing Technology, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7337-1844","affiliations":[{"raw_affiliation_string":"Institute of Computing Technology, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210090176","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016864694","display_name":"Yinhe Han","orcid":"https://orcid.org/0000-0003-0904-6681"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yinhe Han","raw_affiliation_strings":["Institute of Computing Technology, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0904-6681","affiliations":[{"raw_affiliation_string":"Institute of Computing Technology, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210090176","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8739,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.7156775,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"23","issue":"1","first_page":"45","last_page":"48"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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":1.0,"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/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"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9983000159263611,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.8540663719177246},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7585198879241943},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7015615105628967},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6688005924224854},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6554129123687744},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.6169511675834656},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5791944861412048},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18703201413154602},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18131503462791443},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.0972394347190857},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.09692031145095825},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07702744007110596}],"concepts":[{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.8540663719177246},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7585198879241943},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7015615105628967},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6688005924224854},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6554129123687744},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.6169511675834656},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5791944861412048},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18703201413154602},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18131503462791443},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0972394347190857},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.09692031145095825},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07702744007110596},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lca.2024.3369940","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lca.2024.3369940","pdf_url":null,"source":{"id":"https://openalex.org/S17643076","display_name":"IEEE Computer Architecture Letters","issn_l":"1556-6056","issn":["1556-6056","1556-6064","2473-2575"],"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 Computer Architecture Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4444615682","display_name":null,"funder_award_id":"62025404","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G534854344","display_name":null,"funder_award_id":"62122076","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation 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/F4320322847","display_name":"Youth Innovation Promotion Association of the Chinese Academy of Sciences","ror":"https://ror.org/031141b54"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W2042120364","https://openalex.org/W2171074980","https://openalex.org/W2205340216","https://openalex.org/W2299847476","https://openalex.org/W2576285512","https://openalex.org/W2626088079","https://openalex.org/W3037580671"],"related_works":["https://openalex.org/W4240233348","https://openalex.org/W2115240519","https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2080642692","https://openalex.org/W2375415610"],"abstract_inverted_index":{"Inverse":[0],"kinematics":[1,37],"is":[2],"one":[3],"of":[4,55],"the":[5,46,53],"core":[6],"calculations":[7],"in":[8],"robotic":[9],"applications":[10],"and":[11,49,58,77,92],"has":[12,59],"strong":[13],"performance":[14,95],"requirements.":[15],"Previous":[16],"hardware":[17,78],"acceleration":[18,68],"work":[19],"paid":[20],"little":[21],"attention":[22],"to":[23,29,70],"joint":[24,56],"constraints,":[25,57],"which":[26],"can":[27,85],"lead":[28],"computational":[30],"failures.":[31],"We":[32,64],"propose":[33],"a":[34,42,60,87],"new":[35],"inverse":[36],"algorithm":[38],"JANM-IK.":[39],"It":[40],"uses":[41],"hardware-friendly":[43],"design,":[44],"optimizes":[45],"Jacobian-based":[47],"method":[48],"Nelder-Mead":[50],"method,":[51],"realizes":[52],"processing":[54],"high":[61,89],"convergence":[62],"speed.":[63],"further":[65],"designed":[66],"its":[67],"architecture":[69],"achieve":[71,86],"high-performance":[72],"computing":[73],"through":[74],"sufficient":[75],"parallelism":[76],"optimization.":[79],"Finally,":[80],"after":[81],"experimental":[82],"verification,":[83],"JANM-IK":[84],"very":[88],"success":[90],"rate":[91],"obtain":[93],"certain":[94],"improvements.":[96]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
