{"id":"https://openalex.org/W4411269880","doi":"https://doi.org/10.1109/lra.2025.3579633","title":"Enhancing Safety and Manipulability of Redundant Manipulators: Accelerated Motion Generation in Dynamic Environments","display_name":"Enhancing Safety and Manipulability of Redundant Manipulators: Accelerated Motion Generation in Dynamic Environments","publication_year":2025,"publication_date":"2025-06-13","ids":{"openalex":"https://openalex.org/W4411269880","doi":"https://doi.org/10.1109/lra.2025.3579633"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3579633","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3579633","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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/A5006416939","display_name":"Zongwu Xie","orcid":"https://orcid.org/0000-0003-4450-8730"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zongwu Xie","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038353394","display_name":"M.J. Li","orcid":"https://orcid.org/0009-0009-2613-1088"},"institutions":[{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengfei Li","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114111741","display_name":"Wandong Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wandong Sun","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101880891","display_name":"Baoshi Cao","orcid":"https://orcid.org/0000-0001-8213-2661"},"institutions":[{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baoshi Cao","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100355742","display_name":"Yang Liu","orcid":"https://orcid.org/0000-0001-9402-3366"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Liu","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042295244","display_name":"Zhengpu Wang","orcid":"https://orcid.org/0000-0002-0566-3087"},"institutions":[{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengpu Wang","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103898781","display_name":"Yiming Ji","orcid":"https://orcid.org/0009-0009-5694-7766"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiming Ji","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100410341","display_name":"Hong Liu","orcid":"https://orcid.org/0000-0002-9841-1603"},"institutions":[{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Liu","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101731064","display_name":"Boyu Ma","orcid":"https://orcid.org/0000-0002-9628-9886"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Boyu Ma","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010746602","display_name":"Zhihong Wu","orcid":"https://orcid.org/0000-0003-3775-2436"},"institutions":[{"id":"https://openalex.org/I194716290","display_name":"China Academy of Space Technology","ror":"https://ror.org/025397a59","country_code":"CN","type":"government","lineage":["https://openalex.org/I194716290","https://openalex.org/I2802615301"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihong Wu","raw_affiliation_strings":["Institute of Spacecraft System Engineering, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Spacecraft System Engineering, Beijing, China","institution_ids":["https://openalex.org/I194716290"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5006416939"],"corresponding_institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18451393,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"9","first_page":"8642","last_page":"8649"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9706000089645386,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9706000089645386,"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/motion","display_name":"Motion (physics)","score":0.5628376007080078},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5259521007537842},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4649812877178192},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4374050199985504},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3677961230278015},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2535941004753113},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19257211685180664},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1710124909877777},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06348839402198792}],"concepts":[{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5628376007080078},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5259521007537842},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4649812877178192},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4374050199985504},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3677961230278015},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2535941004753113},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19257211685180664},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1710124909877777},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06348839402198792}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3579633","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3579633","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":[{"score":0.7099999785423279,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G8420979844","display_name":null,"funder_award_id":"2022T150161","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1977431861","https://openalex.org/W2004139909","https://openalex.org/W2004617458","https://openalex.org/W2049410986","https://openalex.org/W2118044993","https://openalex.org/W2123859926","https://openalex.org/W2145211241","https://openalex.org/W2444581964","https://openalex.org/W2591194352","https://openalex.org/W2954966673","https://openalex.org/W3004039693","https://openalex.org/W3006653248","https://openalex.org/W3041576302","https://openalex.org/W3158933432","https://openalex.org/W3169744515","https://openalex.org/W4214570817","https://openalex.org/W4280571816","https://openalex.org/W4285029663","https://openalex.org/W4285295739","https://openalex.org/W4289943892","https://openalex.org/W4310497405","https://openalex.org/W4313644344","https://openalex.org/W4319924674","https://openalex.org/W4323913780","https://openalex.org/W4366548450","https://openalex.org/W4382657913","https://openalex.org/W4385881428","https://openalex.org/W4387027546","https://openalex.org/W4389921607","https://openalex.org/W4390831406","https://openalex.org/W4392207798","https://openalex.org/W4393139774","https://openalex.org/W4393235119"],"related_works":["https://openalex.org/W4238458658","https://openalex.org/W3213839729","https://openalex.org/W2753073204","https://openalex.org/W324942907","https://openalex.org/W1979214824","https://openalex.org/W2381705136","https://openalex.org/W190531548","https://openalex.org/W2685330831","https://openalex.org/W1972570117","https://openalex.org/W2320098853"],"abstract_inverted_index":{"Motion":[0],"generation":[1],"in":[2],"dynamic":[3,28,76],"environments":[4],"is":[5,82,98,128],"crucial":[6],"for":[7],"human-machine":[8],"interaction":[9],"with":[10,118],"redundant":[11],"manipulators.":[12],"In":[13,78],"this":[14],"context,":[15],"we":[16],"propose":[17],"the":[18,45,56,66,71,79,86,91,93,116,140],"Enhancing":[19],"Safety":[20],"and":[21,35,106,137,143],"Manipulability":[22],"(ESM)":[23],"scheme,":[24],"which":[25,100],"integrates":[26],"geometry-based":[27],"obstacle":[29,68],"avoidance,":[30],"manipulability":[31,81],"optimization,":[32],"trajectory":[33],"tracking,":[34],"joint":[36],"limit":[37],"avoidance":[38],"into":[39],"a":[40,51,102,108,123],"unified":[41],"scheme":[42,57,72],"operating":[43],"at":[44],"joint-angle":[46],"level.":[47],"The":[48],"introduction":[49],"of":[50],"flexible":[52],"collision":[53],"library":[54],"enables":[55],"to":[58,73,111],"locate":[59],"critical":[60],"points":[61],"based":[62],"on":[63],"geometry,":[64],"while":[65],"incorporated":[67],"speed":[69],"allows":[70],"effectively":[74],"avoid":[75],"obstacles.":[77],"ESM,":[80,92],"naturally":[83],"set":[84],"as":[85],"non-convex":[87,119],"goal.":[88],"To":[89],"solve":[90],"Accelerated":[94],"Multi-agent":[95],"Optimizer":[96],"(AMO)":[97],"proposed,":[99],"adopts":[101],"neural":[103],"network-inspired":[104],"architecture":[105],"uses":[107],"meta-heuristic":[109],"approach":[110],"construct":[112],"activation":[113],"functions,":[114],"endowing":[115],"optimizer":[117],"control":[120],"capabilities.":[121],"Subsequently,":[122],"GPU-based":[124],"parallel":[125],"computing":[126,132],"method":[127],"implemented,":[129],"significantly":[130],"reducing":[131],"time.":[133],"Detailed":[134],"simulations,":[135],"experiments,":[136],"comparisons":[138],"demonstrate":[139],"framework's":[141],"effectiveness":[142],"superiority.":[144]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}