{"id":"https://openalex.org/W3001697211","doi":"https://doi.org/10.1109/robio49542.2019.8961540","title":"A Kinematic Equivalence Trajectory Planning Method of Hybrid Active and Passive Cable-Driven Segmented Hyper-Redundant Manipulator","display_name":"A Kinematic Equivalence Trajectory Planning Method of Hybrid Active and Passive Cable-Driven Segmented Hyper-Redundant Manipulator","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3001697211","doi":"https://doi.org/10.1109/robio49542.2019.8961540","mag":"3001697211"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961540","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961540","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5074700264","display_name":"Zhonghua Hu","orcid":"https://orcid.org/0000-0002-0117-7081"},"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"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhonghua Hu","raw_affiliation_strings":["Harbin Institute of Technology, Shenzhen,School of Mechanical Engineering and Automation,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Shenzhen,School of Mechanical Engineering and Automation,Shenzhen,China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082586634","display_name":"Taiwei Yang","orcid":"https://orcid.org/0000-0002-5756-0290"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Taiwei Yang","raw_affiliation_strings":["Harbin Institute of Technology, Shenzhen,School of Mechanical Engineering and Automation,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Shenzhen,School of Mechanical Engineering and Automation,Shenzhen,China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035195155","display_name":"Wenfu Xu","orcid":"https://orcid.org/0000-0001-8218-6061"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenfu Xu","raw_affiliation_strings":["Harbin Institute of Technology, Shenzhen,School of Mechanical Engineering and Automation,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Shenzhen,School of Mechanical Engineering and Automation,Shenzhen,China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100695049","display_name":"Zonggao Mu","orcid":"https://orcid.org/0000-0001-9289-5902"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zonggao Mu","raw_affiliation_strings":["Harbin Institute of Technology, Shenzhen,School of Mechanical Engineering and Automation,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Shenzhen,School of Mechanical Engineering and Automation,Shenzhen,China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088830032","display_name":"Jianqing Peng","orcid":"https://orcid.org/0000-0003-3147-1772"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianqing Peng","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100000"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100000","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100644630","display_name":"Bin Liang","orcid":"https://orcid.org/0000-0002-8591-8843"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Liang","raw_affiliation_strings":["Harbin Institute of Technology, Shenzhen,School of Mechanical Engineering and Automation,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Shenzhen,School of Mechanical Engineering and Automation,Shenzhen,China,518055","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5074700264"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.298,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.57369047,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1280","last_page":"1285"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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":0.9995999932289124,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9976000189781189,"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/kinematics","display_name":"Kinematics","score":0.8427541255950928},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.7319114208221436},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6406981945037842},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6208885312080383},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5695980787277222},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5025484561920166},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.49318045377731323},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.4494476318359375},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.44797343015670776},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.44712740182876587},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.4321073889732361},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.41089940071105957},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38441014289855957},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25529468059539795},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11225473880767822},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1067347526550293},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0894460380077362}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8427541255950928},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7319114208221436},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6406981945037842},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6208885312080383},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5695980787277222},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5025484561920166},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.49318045377731323},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.4494476318359375},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.44797343015670776},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.44712740182876587},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.4321073889732361},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.41089940071105957},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38441014289855957},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25529468059539795},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11225473880767822},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1067347526550293},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0894460380077362},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio49542.2019.8961540","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961540","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/11","score":0.7799999713897705,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1842017619","https://openalex.org/W1973373088","https://openalex.org/W1980039387","https://openalex.org/W1990076499","https://openalex.org/W2002967483","https://openalex.org/W2137670317","https://openalex.org/W2292843334","https://openalex.org/W2592303253","https://openalex.org/W2653772392","https://openalex.org/W2767155506","https://openalex.org/W2770472194","https://openalex.org/W2782862780","https://openalex.org/W2793801390","https://openalex.org/W2806185962","https://openalex.org/W2810028220","https://openalex.org/W2921626036","https://openalex.org/W2921924584"],"related_works":["https://openalex.org/W2811382984","https://openalex.org/W2375200650","https://openalex.org/W2347988643","https://openalex.org/W2353085265","https://openalex.org/W2351331567","https://openalex.org/W2138377666","https://openalex.org/W4256303909","https://openalex.org/W3047523153","https://openalex.org/W3040474838","https://openalex.org/W3016367173"],"abstract_inverted_index":{"A":[0],"hybrid":[1,45],"active":[2,46],"and":[3,12,27,47,61,80,85,93,113,169],"passive":[4,48],"cable-driven":[5,49],"segmented":[6,50],"hyper-redundant":[7,51],"manipulator":[8,52,98],"is":[9,41,71,106,120,141,159],"very":[10,32],"flexible":[11],"dexterous":[13],"to":[14,53,75,131,150,161],"conduct":[15],"tasks":[16],"in":[17,134],"highly":[18],"cluttered":[19],"environment.":[20],"However,":[21],"computation":[22],"load":[23],"of":[24,63,88,96,126,147,173],"inverse":[25,78],"kinematics":[26,79,104],"trajectory":[28,81,140],"planning":[29,82],"are":[30,65,99],"also":[31],"large.":[33],"In":[34],"the":[35,44,55,59,77,97,103,124,138,144,148,152,156,179],"paper,":[36],"a":[37,162],"kinematic":[38,68,114],"equivalence":[39,69,115],"method":[40,70,112,158],"proposed":[42,157,180],"for":[43,143],"overcome":[54],"above":[56],"challenge":[57],"when":[58],"position":[60],"direction":[62],"end-effector":[64],"considered.":[66],"The":[67,91,117],"an":[72],"effective":[73],"way":[74],"solve":[76],"by":[83,108,122],"simplifying":[84],"rearranging":[86],"joints":[87],"each":[89,135,170],"segment.":[90,136],"mechanism":[92],"joint":[94],"layout":[95],"first":[100],"analyzed.":[101],"Then,":[102],"model":[105],"established":[107],"both":[109],"traditional":[110],"DH":[111],"method.":[116,181],"calculated":[118],"amount":[119],"decreased":[121],"reducing":[123],"number":[125],"rotation":[127],"axis":[128],"that":[129],"needs":[130],"be":[132],"processed":[133],"Furthermore,":[137],"desired":[139],"generated":[142],"end":[145],"effector":[146],"arm":[149],"approach":[151],"target":[153],"point.":[154],"Finally,":[155],"applied":[160],"practical":[163],"prototype,":[164],"which":[165],"has":[166],"five":[167],"segments":[168],"segment":[171],"consists":[172],"six":[174],"subsegments.":[175],"Simulation":[176],"results":[177],"verified":[178]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2021,"cited_by_count":3}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}
