{"id":"https://openalex.org/W4405055867","doi":"https://doi.org/10.1109/lra.2024.3512373","title":"A Novel Path Following Method Based on Whole-Body Deviation Evaluation for Hyper-Redundant Robots","display_name":"A Novel Path Following Method Based on Whole-Body Deviation Evaluation for Hyper-Redundant Robots","publication_year":2024,"publication_date":"2024-12-05","ids":{"openalex":"https://openalex.org/W4405055867","doi":"https://doi.org/10.1109/lra.2024.3512373"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3512373","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3512373","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation 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/A5114111738","display_name":"Nailong Bu","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nailong Bu","raw_affiliation_strings":["School of Mechanical Engineering, State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0003-5947-6388","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100581558","display_name":"Ningyuan Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ningyuan Luo","raw_affiliation_strings":["School of Mechanical Engineering, State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100697048","display_name":"Chao Liu","orcid":"https://orcid.org/0000-0001-8109-013X"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Liu","raw_affiliation_strings":["School of Mechanical Engineering, State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-8109-013X","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101648778","display_name":"Yuxin Sun","orcid":"https://orcid.org/0000-0003-3039-5325"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxin Sun","raw_affiliation_strings":["School of Mechanical Engineering, State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-3039-5325","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036757330","display_name":"Zhenhua Xiong","orcid":"https://orcid.org/0000-0001-6046-3101"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenhua Xiong","raw_affiliation_strings":["School of Mechanical Engineering, State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-6046-3101","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.1431,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.39040062,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"10","issue":"1","first_page":"604","last_page":"611"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9386000037193298,"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":0.9386000037193298,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9294999837875366,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9261999726295471,"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/path","display_name":"Path (computing)","score":0.532730221748352},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5281298756599426},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.475844144821167},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3626594543457031},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.11940088868141174}],"concepts":[{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.532730221748352},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5281298756599426},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.475844144821167},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3626594543457031},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.11940088868141174}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3512373","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3512373","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5550318646","display_name":null,"funder_award_id":"22511101700","funder_id":"https://openalex.org/F4320321885","funder_display_name":"Science and Technology Commission of Shanghai Municipality"}],"funders":[{"id":"https://openalex.org/F4320321885","display_name":"Science and Technology Commission of Shanghai Municipality","ror":"https://ror.org/03kt66j61"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1999165127","https://openalex.org/W2002525207","https://openalex.org/W2044724176","https://openalex.org/W2058784782","https://openalex.org/W2072254960","https://openalex.org/W2086933202","https://openalex.org/W2124536805","https://openalex.org/W2201279143","https://openalex.org/W2207568557","https://openalex.org/W2412393833","https://openalex.org/W2912795814","https://openalex.org/W2979859919","https://openalex.org/W2987061965","https://openalex.org/W2996331036","https://openalex.org/W3008209470","https://openalex.org/W3046983221","https://openalex.org/W3138919713","https://openalex.org/W3156955855","https://openalex.org/W3185419978","https://openalex.org/W4200089399","https://openalex.org/W4300861269","https://openalex.org/W4317383747","https://openalex.org/W4318716308","https://openalex.org/W4383108757","https://openalex.org/W4387757586","https://openalex.org/W4389665920","https://openalex.org/W4401417022"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"The":[0],"accuracy":[1,78],"of":[2,10,27,37,62,79,87,119,136],"path":[3,20,46,59,80,101,146,153],"following":[4,21,47,60,102,147,154],"is":[5,49,130],"crucial":[6],"for":[7,160],"collision-free":[8],"navigation":[9],"hyper-redundant":[11,63],"robots,":[12],"especially":[13],"in":[14],"narrow":[15],"environments.":[16],"However,":[17],"the":[18,25,30,35,38,77,85,89,95,100,117,134,137,144,152,161],"existing":[19],"methods":[22],"only":[23],"consider":[24],"deviations":[26,36,86],"joints":[28],"and":[29,92,109,158,163],"end":[31,90],"effector,":[32],"while":[33],"ignoring":[34],"robot":[39],"body.":[40],"In":[41],"this":[42],"letter,":[43],"a":[44,68,111,126],"novel":[45],"method":[48,148],"proposed":[50,131,145],"based":[51],"on":[52],"whole-body":[53,69],"deviation":[54,70],"evaluation":[55,71],"to":[56,123,132],"achieve":[57],"high-accuracy":[58],"motion":[61,103],"robots.":[64],"Firstly,":[65],"we":[66,98],"introduce":[67],"algorithm":[72],"that":[73,143],"could":[74],"precisely":[75],"quantify":[76],"following,":[81],"which":[82,115],"comprehensively":[83],"considers":[84],"joints,":[88],"effector":[91],"linkages":[93],"along":[94],"path.":[96],"Subsequently,":[97],"formulate":[99],"planning":[104],"as":[105],"an":[106],"optimization":[107,113],"problem":[108,122],"develop":[110],"two-level":[112],"framework,":[114],"reduces":[116],"dimensionality":[118],"each":[120],"sub-optimization":[121],"two.":[124],"Besides,":[125],"refined":[127],"objective":[128],"function":[129],"ensure":[133],"continuity":[135],"optimized":[138],"joint":[139],"angles.":[140],"Simulations":[141],"show":[142],"can":[149],"significantly":[150],"reduce":[151],"error":[155],"by":[156],"41.3%":[157],"47.1%":[159],"S-shaped":[162],"C-shaped":[164],"paths,":[165],"respectively.":[166]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
