{"id":"https://openalex.org/W2792038541","doi":"https://doi.org/10.1109/robio.2017.8324753","title":"Minimum-jerk trajectory generation and global optimal control for permanent magnet spherical actuator","display_name":"Minimum-jerk trajectory generation and global optimal control for permanent magnet spherical actuator","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2792038541","doi":"https://doi.org/10.1109/robio.2017.8324753","mag":"2792038541"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2017.8324753","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324753","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5068984195","display_name":"Jingmeng Liu","orcid":"https://orcid.org/0000-0001-6822-2812"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingmeng Liu","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006066618","display_name":"Shaoxiong Cai","orcid":"https://orcid.org/0000-0001-5409-635X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaoxiong Cai","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026365889","display_name":"Weihai Chen","orcid":"https://orcid.org/0000-0001-7912-4505"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weihai Chen","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046605612","display_name":"I\u2010Ming Chen","orcid":"https://orcid.org/0000-0002-4831-3781"},"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":"I-Ming Chen","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2619,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.96413538,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"14","issue":null,"first_page":"2249","last_page":"2254"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9973999857902527,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9965000152587891,"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/jerk","display_name":"Jerk","score":0.9255183935165405},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8909682631492615},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6764475107192993},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6396793127059937},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5813274383544922},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.513359010219574},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.49596676230430603},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.4339821934700012},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4111734628677368},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35203033685684204},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.3479422926902771},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3118278384208679},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1793437898159027},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.179112046957016},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11245879530906677},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07578477263450623}],"concepts":[{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.9255183935165405},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8909682631492615},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6764475107192993},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6396793127059937},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5813274383544922},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.513359010219574},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.49596676230430603},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.4339821934700012},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4111734628677368},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35203033685684204},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.3479422926902771},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3118278384208679},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1793437898159027},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.179112046957016},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11245879530906677},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07578477263450623},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2017.8324753","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324753","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8600000143051147}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1995193929","https://openalex.org/W1997064324","https://openalex.org/W2072900676","https://openalex.org/W2094862909","https://openalex.org/W2141241787","https://openalex.org/W2143666651","https://openalex.org/W2143941741","https://openalex.org/W2148817481","https://openalex.org/W2151394936","https://openalex.org/W2152796171","https://openalex.org/W2163168124","https://openalex.org/W2166785907","https://openalex.org/W2170091979","https://openalex.org/W2215277239"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2497204748","https://openalex.org/W4281395624","https://openalex.org/W2351684991","https://openalex.org/W1561345858","https://openalex.org/W2539932329","https://openalex.org/W1983113136","https://openalex.org/W2392989031","https://openalex.org/W2112389631","https://openalex.org/W2103107162"],"abstract_inverted_index":{"The":[0,19,110],"study":[1],"in":[2,29],"this":[3],"paper":[4],"covers":[5],"minimum-jerk":[6,116],"trajectory":[7,21,58,84,117],"generation":[8,59],"and":[9,35,67,74,95,102,123,127],"global":[10,76,129],"optimal":[11,77,130],"control":[12,78,131],"for":[13],"the":[14,26,33,57,61,93,98,107,128,136],"Permanent":[15],"Magnet":[16],"Spherical":[17],"Actuator(PMSA).":[18],"generated":[20],"is":[22,53,71,80],"guaranteed":[23],"to":[24,31,55,82,139],"minimize":[25],"end-actuator":[27],"jerk":[28],"order":[30],"improve":[32,83],"smoothness":[34],"stability":[36],"of":[37,60,65,97,121],"rotor":[38],"motions.":[39],"A":[40,63],"novel":[41],"three-dimensional":[42],"Euclidean":[43],"space":[44],"orientation":[45],"representation":[46],"method":[47],"based":[48],"on":[49,106],"Rotation":[50],"group":[51],"SO(3)":[52],"proposed":[54,99],"promote":[56],"rotor.":[62],"union":[64,120],"dynamics":[66,122],"inverse":[68,124],"torque":[69,125],"model":[70],"well":[72],"established":[73],"then":[75],"algorithm":[79],"developed":[81],"tracking":[85],"ability":[86],"without":[87],"excessive":[88],"control-energy":[89],"expenditure.":[90],"To":[91],"verify":[92],"effectiveness":[94],"robustness":[96],"algorithm,":[100],"simulations":[101],"experiments":[103],"are":[104],"conducted":[105],"spherical":[108,137],"actuator.":[109],"results":[111],"indicate":[112],"that":[113],"by":[114],"using":[115],"generation,":[118],"a":[119],"model,":[126],"can":[132],"be":[133],"supplied":[134],"into":[135],"actuator":[138],"achieve":[140],"ideal":[141],"motions":[142],"performance.":[143]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}