{"id":"https://openalex.org/W4408223269","doi":"https://doi.org/10.1109/robio64047.2024.10907679","title":"An Efficient Planner for Dual-Arm Massage Robots in Constrained State","display_name":"An Efficient Planner for Dual-Arm Massage Robots in Constrained State","publication_year":2024,"publication_date":"2024-12-10","ids":{"openalex":"https://openalex.org/W4408223269","doi":"https://doi.org/10.1109/robio64047.2024.10907679"},"language":"en","primary_location":{"id":"doi:10.1109/robio64047.2024.10907679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907679","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5060508340","display_name":"Yue Xu","orcid":"https://orcid.org/0000-0003-4205-5109"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4391768146","display_name":"State Key Laboratory of Mechanical System and Vibration","ror":"https://ror.org/02hphne60","country_code":null,"type":"facility","lineage":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuan Xu","raw_affiliation_strings":["Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering,Shanghai,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101701726","display_name":"Wenxiao Wang","orcid":"https://orcid.org/0000-0001-7328-0267"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4391768146","display_name":"State Key Laboratory of Mechanical System and Vibration","ror":"https://ror.org/02hphne60","country_code":null,"type":"facility","lineage":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenxiao Wang","raw_affiliation_strings":["Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering,Shanghai,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101885327","display_name":"Lv Zhou","orcid":"https://orcid.org/0000-0003-2318-5346"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4391768146","display_name":"State Key Laboratory of Mechanical System and Vibration","ror":"https://ror.org/02hphne60","country_code":null,"type":"facility","lineage":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lechuan Zhou","raw_affiliation_strings":["Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering,Shanghai,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061965423","display_name":"Weichao Guo","orcid":"https://orcid.org/0000-0003-0927-7367"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4391768146","display_name":"State Key Laboratory of Mechanical System and Vibration","ror":"https://ror.org/02hphne60","country_code":null,"type":"facility","lineage":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weichao Guo","raw_affiliation_strings":["Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering,Shanghai,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062272467","display_name":"Xinjun Sheng","orcid":"https://orcid.org/0000-0001-6124-8665"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4391768146","display_name":"State Key Laboratory of Mechanical System and Vibration","ror":"https://ror.org/02hphne60","country_code":null,"type":"facility","lineage":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinjun Sheng","raw_affiliation_strings":["Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering,Shanghai,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1789","last_page":"1794"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9879999756813049,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9879999756813049,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9811000227928162,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9736999869346619,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/planner","display_name":"Planner","score":0.8048676252365112},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.7338240146636963},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6990616321563721},{"id":"https://openalex.org/keywords/massage","display_name":"Massage","score":0.6554389595985413},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6169946193695068},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4462241530418396},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4360145628452301},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2805376648902893},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.13269475102424622},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.058762431144714355}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.8048676252365112},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.7338240146636963},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6990616321563721},{"id":"https://openalex.org/C175259745","wikidata":"https://www.wikidata.org/wiki/Q179415","display_name":"Massage","level":3,"score":0.6554389595985413},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6169946193695068},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4462241530418396},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4360145628452301},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2805376648902893},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.13269475102424622},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.058762431144714355},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio64047.2024.10907679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907679","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1485487406","https://openalex.org/W1974581510","https://openalex.org/W1988461531","https://openalex.org/W2034801091","https://openalex.org/W2134447392","https://openalex.org/W2141664020","https://openalex.org/W2159722616","https://openalex.org/W2928801035","https://openalex.org/W3004699778","https://openalex.org/W4205321563","https://openalex.org/W4384300270","https://openalex.org/W4388868804","https://openalex.org/W4391973641","https://openalex.org/W4392207798","https://openalex.org/W4395480779","https://openalex.org/W6605295560"],"related_works":["https://openalex.org/W3157682546","https://openalex.org/W2183409668","https://openalex.org/W1634445912","https://openalex.org/W1520033421","https://openalex.org/W3004588887","https://openalex.org/W2371382826","https://openalex.org/W1568779110","https://openalex.org/W2369195552","https://openalex.org/W2284127233","https://openalex.org/W2658949566"],"abstract_inverted_index":{"Dual-arm":[0],"massage":[1,6,124],"robots":[2],"necessitate":[3],"reaching":[4],"the":[5,51,57,80,83,100,110],"pose":[7],"along":[8],"an":[9],"optimal":[10],"collision-free":[11,119],"path":[12,18],"in":[13],"constrained":[14],"state,":[15],"where":[16],"traditional":[17],"planning":[19,29,47,90],"methods":[20],"often":[21],"exhibit":[22,102],"inefficiency.":[23],"This":[24],"paper":[25],"proposes":[26],"a":[27,72,87,122],"sampling-based":[28],"algorithm":[30,101,112],"that":[31],"integrates":[32],"lazy":[33],"evaluation,":[34],"transition":[35],"testing,":[36],"and":[37,49,63,105],"bidirectional":[38],"Rapidly-exploring":[39],"Random":[40],"Tree":[41],"to":[42,54,65],"reduce":[43],"computational":[44],"load,":[45],"enhance":[46],"efficiency,":[48],"improve":[50],"planner's":[52],"ability":[53],"effectively":[55],"explore":[56],"state":[58],"space,":[59],"avoid":[60],"local":[61],"minima,":[62],"converge":[64],"high-quality":[66],"solutions.":[67],"Comparative":[68],"experiments":[69],"conducted":[70],"on":[71],"simulation":[73],"platform":[74],"across":[75],"multiple":[76],"algorithms":[77],"have":[78],"demonstrated":[79],"efficacy":[81],"of":[82,115],"proposed":[84,111],"planner,":[85],"achieving":[86],"95":[88],"%":[89],"success":[91],"rate":[92],"within":[93],"1":[94],"second.":[95],"The":[96],"paths":[97,120],"generated":[98],"by":[99],"superior":[103],"quality":[104],"enhanced":[106],"consistency.":[107],"In":[108],"summary,":[109],"is":[113],"capable":[114],"producing":[116],"asymptotically":[117],"optimal,":[118],"for":[121],"dual-arm":[123],"robot.":[125]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
