{"id":"https://openalex.org/W7167095163","doi":"https://doi.org/10.1109/lra.2026.3709634","title":"Real-Time Dynamic Safe Trajectory Planning for Orchard Picking Manipulator: MPC-Based Contact Force Suppression","display_name":"Real-Time Dynamic Safe Trajectory Planning for Orchard Picking Manipulator: MPC-Based Contact Force Suppression","publication_year":2026,"publication_date":"2026-07-02","ids":{"openalex":"https://openalex.org/W7167095163","doi":"https://doi.org/10.1109/lra.2026.3709634"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3709634","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3709634","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/A5101621066","display_name":"Leiying He","orcid":"https://orcid.org/0000-0003-1452-2355"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Leiying He","raw_affiliation_strings":["School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-1452-2355","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China","institution_ids":["https://openalex.org/I1328775524"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139858888","display_name":"Qinen Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinen Zheng","raw_affiliation_strings":["School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China","institution_ids":["https://openalex.org/I1328775524"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061974409","display_name":"Xiaoqiang Du","orcid":"https://orcid.org/0000-0001-7620-2440"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoqiang Du","raw_affiliation_strings":["School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-7620-2440","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China","institution_ids":["https://openalex.org/I1328775524"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030313658","display_name":"J Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianyi Zhang","raw_affiliation_strings":["School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-5179-0389","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China","institution_ids":["https://openalex.org/I1328775524"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1328775524"],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.60066281,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"9","first_page":"10202","last_page":"10209"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.28299999237060547,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10868","display_name":"Soft Robotics and Applications","score":0.28299999237060547,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.1420000046491623,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.09560000151395798,"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/trajectory","display_name":"Trajectory","score":0.5037000179290771},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3537999987602234},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.290800005197525},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.2759999930858612}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5037000179290771},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42170000076293945},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3619000017642975},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3537999987602234},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.290800005197525},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.2759999930858612},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2667999863624573},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.2581999897956848},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2551000118255615},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.24040000140666962}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3709634","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3709634","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/G5499759119","display_name":"\u679c\u852c\u91c7\u6458\u673a\u5668\u4eba\u73af\u5883\u4e92\u4f5c\u611f\u77e5\u4e0e\u63a7\u5236\u65b9\u6cd5\u7814\u7a76","funder_award_id":"LD24E050006","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"}],"funders":[{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2006979842","https://openalex.org/W2017280345","https://openalex.org/W2018446707","https://openalex.org/W2416622902","https://openalex.org/W2762248135","https://openalex.org/W2892152894","https://openalex.org/W2940682483","https://openalex.org/W2947711751","https://openalex.org/W2963965769","https://openalex.org/W2994895683","https://openalex.org/W2997364322","https://openalex.org/W3003390524","https://openalex.org/W3004302081","https://openalex.org/W3133988555","https://openalex.org/W3148741757","https://openalex.org/W3177736143","https://openalex.org/W3198480409","https://openalex.org/W3205225162","https://openalex.org/W4366823992","https://openalex.org/W4389371626","https://openalex.org/W4392822468","https://openalex.org/W4401724693"],"related_works":[],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2026-07-03T00:00:00"}
