{"id":"https://openalex.org/W7131104966","doi":"https://doi.org/10.1109/robio66223.2025.11375870","title":"Performance-Driven Multi-Objective Optimization Design of Modular Robot Manipulators","display_name":"Performance-Driven Multi-Objective Optimization Design of Modular Robot Manipulators","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131104966","doi":"https://doi.org/10.1109/robio66223.2025.11375870"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11375870","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11375870","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5101080419","display_name":"Yu-hua Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhua Zhou","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL),Guangzhou,China,510006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL),Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110950581","display_name":"Kezheng Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kezheng Sun","raw_affiliation_strings":["Institute of Intelligent Manufacturing Guangdong Academy of Sciences,Guangdong Key Laboratory of Modern Control Technology,Guangzhou,China,510070"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Manufacturing Guangdong Academy of Sciences,Guangdong Key Laboratory of Modern Control Technology,Guangzhou,China,510070","institution_ids":["https://openalex.org/I4210142539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125154671","display_name":"Zhaoyang Liao","orcid":null},"institutions":[{"id":"https://openalex.org/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaoyang Liao","raw_affiliation_strings":["Institute of Intelligent Manufacturing Guangdong Academy of Sciences,Guangdong Key Laboratory of Modern Control Technology,Guangzhou,China,510070"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Manufacturing Guangdong Academy of Sciences,Guangdong Key Laboratory of Modern Control Technology,Guangzhou,China,510070","institution_ids":["https://openalex.org/I4210142539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126587648","display_name":"Yisheng Guan","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yisheng Guan","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL),Guangzhou,China,510006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL),Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076365705","display_name":"Haifei Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haifei Zhu","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL),Guangzhou,China,510006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL),Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]}],"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":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2388","last_page":"2393"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.7297000288963318,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.7297000288963318,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.0934000015258789,"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/T10848","display_name":"Advanced Multi-Objective Optimization Algorithms","score":0.017000000923871994,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/multi-objective-optimization","display_name":"Multi-objective optimization","score":0.7229999899864197},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7046999931335449},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.603600025177002},{"id":"https://openalex.org/keywords/pareto-principle","display_name":"Pareto principle","score":0.5339000225067139},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45570001006126404},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4374000132083893},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4034000039100647},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.39070001244544983},{"id":"https://openalex.org/keywords/integer","display_name":"Integer (computer science)","score":0.37400001287460327}],"concepts":[{"id":"https://openalex.org/C68781425","wikidata":"https://www.wikidata.org/wiki/Q2052203","display_name":"Multi-objective optimization","level":2,"score":0.7229999899864197},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7046999931335449},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.603600025177002},{"id":"https://openalex.org/C137635306","wikidata":"https://www.wikidata.org/wiki/Q182667","display_name":"Pareto principle","level":2,"score":0.5339000225067139},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5182999968528748},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45570001006126404},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4374000132083893},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4034000039100647},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39250001311302185},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.39070001244544983},{"id":"https://openalex.org/C97137487","wikidata":"https://www.wikidata.org/wiki/Q729138","display_name":"Integer (computer science)","level":2,"score":0.37400001287460327},{"id":"https://openalex.org/C145671259","wikidata":"https://www.wikidata.org/wiki/Q1493786","display_name":"Discrete optimization","level":3,"score":0.35910001397132874},{"id":"https://openalex.org/C12426560","wikidata":"https://www.wikidata.org/wiki/Q189569","display_name":"Basis (linear algebra)","level":2,"score":0.3278999924659729},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.3240000009536743},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31610000133514404},{"id":"https://openalex.org/C164752517","wikidata":"https://www.wikidata.org/wiki/Q5570875","display_name":"Global optimization","level":2,"score":0.29789999127388},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.29589998722076416},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.29170000553131104},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.2822999954223633},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27300000190734863},{"id":"https://openalex.org/C2777382242","wikidata":"https://www.wikidata.org/wiki/Q6017816","display_name":"Index (typography)","level":2,"score":0.26499998569488525},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.263700008392334},{"id":"https://openalex.org/C55660270","wikidata":"https://www.wikidata.org/wiki/Q5164377","display_name":"Constrained optimization","level":2,"score":0.26269999146461487},{"id":"https://openalex.org/C186394612","wikidata":"https://www.wikidata.org/wiki/Q7098942","display_name":"Optimal design","level":2,"score":0.26159998774528503},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.2615000009536743},{"id":"https://openalex.org/C22597639","wikidata":"https://www.wikidata.org/wiki/Q5449227","display_name":"Filter design","level":3,"score":0.2572000026702881},{"id":"https://openalex.org/C92995354","wikidata":"https://www.wikidata.org/wiki/Q5165499","display_name":"Continuous optimization","level":4,"score":0.2526000142097473},{"id":"https://openalex.org/C34559072","wikidata":"https://www.wikidata.org/wiki/Q2334061","display_name":"Design of experiments","level":2,"score":0.2524999976158142}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11375870","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11375870","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5314404659","display_name":null,"funder_award_id":"2022A1515010806,2020A1515010698","funder_id":"https://openalex.org/F4320321921","funder_display_name":"Natural Science Foundation of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320321921","display_name":"Natural Science Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W2009593446","https://openalex.org/W2786688135","https://openalex.org/W3046910774","https://openalex.org/W4285596863","https://openalex.org/W4387143414","https://openalex.org/W4387487567","https://openalex.org/W4389486987","https://openalex.org/W4399595487"],"related_works":[],"abstract_inverted_index":{"To":[0,67],"address":[1,68],"the":[2,33,38,43,49,56,59,69,86,114,118,126,129,132,151,157,169],"challenge":[3],"of":[4,58,71,117],"rapidly":[5],"designing":[6],"robots":[7],"based":[8],"on":[9,125,131,143],"specific":[10],"performance":[11,31,148,198],"requirements,":[12],"this":[13],"paper":[14],"proposes":[15],"a":[16,97,155,166],"performance-driven":[17],"multi-objective":[18,60],"optimization":[19,27,61,87,178],"design":[20,179],"method":[21,180],"for":[22,63,85,141,168],"modular":[23,64],"robot":[24,65,153,194],"configurations.":[25,66],"The":[26,137,172],"objectives":[28],"include":[29],"four":[30],"metrics:":[32],"total":[34],"mass":[35],"index":[36,41,46,52],"(TMI),":[37],"structural":[39],"length":[40,74],"(SLI),":[42],"global":[44,50],"manipulability":[45],"(GMI),":[47],"and":[48,108,163],"conditioning":[51],"(Gel),":[53],"which":[54],"form":[55],"basis":[57],"model":[62],"issue":[70],"limited":[72],"link":[73,90,110],"options":[75],"in":[76,196],"configuration":[77],"optimization,":[78],"an":[79],"integer":[80],"encoding":[81],"scheme":[82],"is":[83,102],"employed":[84],"variables,":[88],"allowing":[89],"lengths":[91],"to":[92,145],"take":[93],"continuous":[94,109],"values":[95,160],"within":[96],"specified":[98],"range.":[99],"A":[100],"comparison":[101],"made":[103],"between":[104],"configurations":[105,130,185,195],"with":[106],"discrete":[107],"lengths.":[111],"By":[112],"calculating":[113],"correlation":[115],"coefficients":[116],"objective":[119,158],"functions":[120],"mapped":[121],"from":[122],"all":[123],"points":[124],"Pareto":[127,133,170],"front,":[128],"front":[134],"are":[135,161],"analyzed.":[136],"results":[138,174],"provide":[139],"guidance":[140],"users":[142],"how":[144],"effectively":[146],"select":[147],"metrics.":[149],"Using":[150],"URS":[152],"as":[154,165],"benchmark,":[156],"function":[159],"calculated":[162],"used":[164,193],"filter":[167],"front.":[171],"filtering":[173],"indicate":[175],"that":[176,190],"our":[177],"not":[181],"only":[182],"generates":[183],"versatile":[184],"but":[186],"also":[187],"produces":[188],"designs":[189],"outperform":[191],"commonly":[192],"certain":[197],"aspects.":[199]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2026-02-24T00:00:00"}