{"id":"https://openalex.org/W2288288996","doi":"https://doi.org/10.1109/robio.2015.7418943","title":"A momentum-based collision detection algorithm for industrial robots","display_name":"A momentum-based collision detection algorithm for industrial robots","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2288288996","doi":"https://doi.org/10.1109/robio.2015.7418943","mag":"2288288996"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2015.7418943","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418943","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5100948058","display_name":"Sumei He","orcid":null},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Sumei He","raw_affiliation_strings":["College of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034469896","display_name":"Jinhua Ye","orcid":"https://orcid.org/0000-0002-8105-8903"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinhua Ye","raw_affiliation_strings":["College of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102845553","display_name":"Zhijing Li","orcid":"https://orcid.org/0000-0002-3731-0964"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijing Li","raw_affiliation_strings":["College of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100626061","display_name":"Shiyi Li","orcid":"https://orcid.org/0000-0001-8206-6916"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiyi Li","raw_affiliation_strings":["College of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043267417","display_name":"Wu Guokui","orcid":null},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guokui Wu","raw_affiliation_strings":["College of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075223865","display_name":"Haibin Wu","orcid":"https://orcid.org/0000-0002-1577-0468"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haibin Wu","raw_affiliation_strings":["College of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100948058"],"corresponding_institution_ids":["https://openalex.org/I80947539"],"apc_list":null,"apc_paid":null,"fwci":1.3636,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.8412778,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1253","last_page":"1259"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9887999892234802,"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":0.9887999892234802,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.983299970626831,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9832000136375427,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.8320236206054688},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.7884895205497742},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6333482265472412},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6214260458946228},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.617250382900238},{"id":"https://openalex.org/keywords/momentum","display_name":"Momentum (technical analysis)","score":0.571928858757019},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5232621431350708},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5232530832290649},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4967835247516632},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49032047390937805},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.48874807357788086},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4431880712509155},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4116295576095581},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34437283873558044},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26828211545944214},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23840367794036865},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.231643944978714},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1538165807723999},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13508370518684387},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09923660755157471}],"concepts":[{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.8320236206054688},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.7884895205497742},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6333482265472412},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6214260458946228},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.617250382900238},{"id":"https://openalex.org/C60718061","wikidata":"https://www.wikidata.org/wiki/Q1414747","display_name":"Momentum (technical analysis)","level":2,"score":0.571928858757019},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5232621431350708},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5232530832290649},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4967835247516632},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49032047390937805},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.48874807357788086},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4431880712509155},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4116295576095581},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34437283873558044},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26828211545944214},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23840367794036865},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.231643944978714},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1538165807723999},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13508370518684387},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09923660755157471},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2015.7418943","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418943","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6899999976158142,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1964453179","https://openalex.org/W2021628292","https://openalex.org/W2046107245","https://openalex.org/W2111165316","https://openalex.org/W2116113712","https://openalex.org/W2121991065","https://openalex.org/W2124176075","https://openalex.org/W2126654773","https://openalex.org/W2130821661","https://openalex.org/W2130883172","https://openalex.org/W2132500519","https://openalex.org/W2141163906","https://openalex.org/W2141177560","https://openalex.org/W2149085596","https://openalex.org/W2159746877","https://openalex.org/W2161086413","https://openalex.org/W2381682404","https://openalex.org/W4251186222","https://openalex.org/W6676493601"],"related_works":["https://openalex.org/W2152950565","https://openalex.org/W3138645172","https://openalex.org/W2148917807","https://openalex.org/W3215492696","https://openalex.org/W2257960210","https://openalex.org/W2028510469","https://openalex.org/W913501818","https://openalex.org/W2021628292","https://openalex.org/W4379525781","https://openalex.org/W1987135480"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,48],"collision":[4,43],"detection":[5],"algorithm":[6,63,86],"based":[7],"on":[8],"generalized":[9,24],"momentum":[10,25],"to":[11,19,53],"improve":[12,54],"the":[13,20,30,32,40,55,60,67,82,94],"safety":[14],"reaction":[15,103],"of":[16,23,29,59,69,93],"robots.":[17],"According":[18],"decoupling":[21],"performance":[22],"and":[26,71,80,91],"external":[27],"torque":[28],"manipulator,":[31],"impact":[33,95],"force":[34],"can":[35,64],"be":[36],"obtained":[37],"which":[38,97],"determine":[39],"position":[41,90],"where":[42],"occurred.":[44],"In":[45],"this":[46],"paper,":[47],"performance-regulating":[49],"function":[50],"is":[51],"introduced":[52],"dynamic":[56],"response":[57],"characteristics":[58],"algorithm.":[61],"The":[62,85],"effectively":[65],"depress":[66],"influence":[68],"acceleration":[70],"deceleration":[72],"process.":[73],"Moreover,":[74],"it":[75],"exhibits":[76],"good":[77],"real-time":[78],"performance,":[79],"satisfies":[81],"expected":[83],"requirements.":[84],"provides":[87],"an":[88],"approximate":[89],"direction":[92],"force,":[96],"are":[98],"important":[99],"for":[100],"further":[101],"security":[102],"control.":[104]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
