{"id":"https://openalex.org/W2116937526","doi":"https://doi.org/10.1109/robot.1986.1087464","title":"Avoiding obstacles and resolving kinematic redundancy","display_name":"Avoiding obstacles and resolving kinematic redundancy","publication_year":1986,"publication_date":"1986-01-01","ids":{"openalex":"https://openalex.org/W2116937526","doi":"https://doi.org/10.1109/robot.1986.1087464","mag":"2116937526"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1986.1087464","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1986.1087464","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1986 IEEE International Conference on Robotics and Automation","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/A5001586180","display_name":"John Baillieul","orcid":"https://orcid.org/0000-0002-5009-0708"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"J. Baillieul","raw_affiliation_strings":["Boston University, Boston, MA"],"affiliations":[{"raw_affiliation_string":"Boston University, Boston, MA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5001586180"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.9634,"has_fulltext":false,"cited_by_count":240,"citation_normalized_percentile":{"value":0.98933902,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1698","last_page":"1704"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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":0.9944999814033508,"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/redundancy","display_name":"Redundancy (engineering)","score":0.8287215232849121},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8238468766212463},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7220525741577148},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7165946960449219},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6150020360946655},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6090959906578064},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5290428996086121},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5256537199020386},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.49087220430374146},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4711165428161621},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4411260783672333},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.436015248298645},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2600523829460144},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25476762652397156},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2244446575641632},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.056266069412231445}],"concepts":[{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.8287215232849121},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8238468766212463},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7220525741577148},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7165946960449219},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6150020360946655},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6090959906578064},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5290428996086121},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5256537199020386},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.49087220430374146},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4711165428161621},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4411260783672333},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.436015248298645},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2600523829460144},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25476762652397156},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2244446575641632},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.056266069412231445},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1986.1087464","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1986.1087464","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1986 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6100000143051147,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W18288968","https://openalex.org/W1982442957","https://openalex.org/W2009287270","https://openalex.org/W2026703205","https://openalex.org/W2049410986","https://openalex.org/W2079694260","https://openalex.org/W2104332709","https://openalex.org/W2134399170","https://openalex.org/W2144629157","https://openalex.org/W2177274602","https://openalex.org/W4236023629","https://openalex.org/W6600740208"],"related_works":["https://openalex.org/W1679399962","https://openalex.org/W2132859693","https://openalex.org/W1901106430","https://openalex.org/W2115240519","https://openalex.org/W2537091977","https://openalex.org/W2080642692","https://openalex.org/W2039927751","https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W1253671258"],"abstract_inverted_index":{"While":[0],"obstacles":[1,32],"in":[2],"a":[3,19,34,55],"robot":[4],"workspace":[5],"can":[6],"effectively":[7],"reduce":[8],"the":[9],"number":[10],"of":[11,13,22,60],"degrees":[12],"freedom,":[14],"there":[15],"need":[16],"not":[17],"be":[18],"corresponding":[20],"loss":[21],"functionality":[23],"for":[24,33,67],"kinematically":[25],"redundant":[26],"mechanisms.":[27],"In":[28],"this":[29],"paper,":[30],"disk-like":[31],"planar":[35],"three-bar":[36],"mechanism":[37],"are":[38],"classified.":[39],"The":[40,58],"extended":[41],"Jacobian":[42],"technique":[43,51],"is":[44,70],"used":[45],"to":[46],"implement":[47],"an":[48],"obstacle":[49],"avoidance":[50],"based":[52],"on":[53],"optimizing":[54],"distance":[56],"criterion.":[57],"feasibility":[59],"applying":[61],"multiple":[62],"constraints":[63],"or":[64],"optimality":[65],"criteria":[66],"resolving":[68],"redundancy":[69],"investigated.":[71]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":6}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
