{"id":"https://openalex.org/W4411472242","doi":"https://doi.org/10.1109/lra.2025.3582137","title":"Optimization of Preemptive Impact Mitigation Without Prior Collision Testing","display_name":"Optimization of Preemptive Impact Mitigation Without Prior Collision Testing","publication_year":2025,"publication_date":"2025-06-20","ids":{"openalex":"https://openalex.org/W4411472242","doi":"https://doi.org/10.1109/lra.2025.3582137"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3582137","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3582137","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/A5019047109","display_name":"Hayato Nakamura","orcid":"https://orcid.org/0000-0003-2115-9873"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hayato Nakamura","raw_affiliation_strings":["Department of Mechanical Engineering, Kyushu University, Fukuoka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061020240","display_name":"Hikaru Arita","orcid":"https://orcid.org/0000-0003-4953-2553"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hikaru Arita","raw_affiliation_strings":["Department of Mechanical Engineering, Kyushu University, Fukuoka, Japan"],"raw_orcid":"https://orcid.org/0000-0003-4953-2553","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081980119","display_name":"Shunsuke Tokiwa","orcid":null},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shunsuke Tokiwa","raw_affiliation_strings":["Department of Mechanical Engineering, Kyushu University, Fukuoka, Japan"],"raw_orcid":"https://orcid.org/0009-0006-7426-0552","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010975613","display_name":"Kenji Tahara","orcid":"https://orcid.org/0000-0003-4457-7867"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Tahara","raw_affiliation_strings":["Department of Mechanical Engineering, Kyushu University, Fukuoka, Japan"],"raw_orcid":"https://orcid.org/0000-0003-4457-7867","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I135598925"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18628542,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"8","first_page":"8059","last_page":"8066"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11487","display_name":"Automotive and Human Injury Biomechanics","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T11487","display_name":"Automotive and Human Injury Biomechanics","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9952999949455261,"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/T11699","display_name":"High-Velocity Impact and Material Behavior","score":0.991100013256073,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.7063783407211304},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4360448122024536},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.17808151245117188}],"concepts":[{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.7063783407211304},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4360448122024536},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.17808151245117188}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3582137","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3582137","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":[{"score":0.8799999952316284,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1967377907","https://openalex.org/W2113899190","https://openalex.org/W2115730777","https://openalex.org/W2131294801","https://openalex.org/W2168094487","https://openalex.org/W2169028406","https://openalex.org/W2213646491","https://openalex.org/W2490215013","https://openalex.org/W2762248135","https://openalex.org/W2768469496","https://openalex.org/W2908719061","https://openalex.org/W2909215892","https://openalex.org/W2976065698","https://openalex.org/W2994895683","https://openalex.org/W3012387835","https://openalex.org/W4213050259","https://openalex.org/W4285309256","https://openalex.org/W4285792015","https://openalex.org/W4288885957","https://openalex.org/W4313194735","https://openalex.org/W4367016637","https://openalex.org/W4382751696","https://openalex.org/W4404307334"],"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/W3113932901","https://openalex.org/W4396701345","https://openalex.org/W650625605","https://openalex.org/W2376932109"],"abstract_inverted_index":{"Effective":[0],"impact":[1,36,99,104,186],"mitigation":[2,37,100,105],"strategies":[3,38,101],"are":[4],"crucial":[5],"for":[6,81,166],"preventing":[7],"potential":[8],"damage":[9,63,183],"to":[10,49,64,128],"both":[11,65,130],"robotic":[12,67,169],"systems":[13,170],"and":[14,20,69,138,157],"their":[15],"operational":[16,71],"environments":[17],"during":[18,26,73],"high-velocity":[19],"dynamic":[21],"maneuvers,":[22],"as":[23,25,60,106],"well":[24],"the":[27,50,66,79,121,124,131,139,149,164],"execution":[28],"of":[29,35,53,116,123,134,142,148],"high-precision":[30],"tasks.":[31],"The":[32,113,146],"successful":[33],"implementation":[34],"in":[39,85,120,181],"real-world":[40],"applications":[41],"fundamentally":[42],"requires":[43],"appropriate":[44],"parameter":[45,56,86],"tuning.":[46],"However,":[47],"owing":[48],"destructive":[51,175],"nature":[52],"collisions,":[54],"heuristic":[55],"tuning":[57],"is":[58,152],"impractical,":[59],"it":[61],"risks":[62],"system":[68,182],"its":[70],"environment":[72],"experimental":[74,160],"trials.":[75],"This":[76],"study":[77],"eliminates":[78],"need":[80,165],"preliminary":[82],"collision":[83,167],"experiments":[84],"optimization":[87,144],"by":[88],"introducing":[89],"a":[90,107],"novel":[91],"methodology":[92,151],"that":[93,102,177],"leverages":[94],"recent":[95],"proximity":[96,125],"sensor-based":[97],"preemptive":[98,135],"reframe":[103],"geometric":[108],"rather":[109],"than":[110],"physical":[111],"problem.":[112],"key":[114],"innovation":[115],"this":[117],"work":[118],"lies":[119],"reformulation":[122],"sensor":[126],"output":[127],"enable":[129],"analytical":[132],"derivation":[133],"motion":[136],"trajectories":[137],"direct":[140],"application":[141],"standard":[143],"solvers.":[145],"effectiveness":[147],"proposed":[150],"validated":[153],"through":[154],"numerical":[155],"simulations":[156],"two":[158],"different":[159],"configurations.":[161],"By":[162],"eliminating":[163],"trials,":[168],"can":[171],"safely":[172],"execute":[173],"potentially":[174],"tasks":[176],"would":[178],"otherwise":[179],"result":[180],"without":[184],"proper":[185],"mitigation.":[187]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}