{"id":"https://openalex.org/W2143792422","doi":"https://doi.org/10.1109/robot.2008.4543498","title":"An analytical algorithm with minimum joint velocity jump for redundant robots in the presence of locked-joint failures","display_name":"An analytical algorithm with minimum joint velocity jump for redundant robots in the presence of locked-joint failures","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2143792422","doi":"https://doi.org/10.1109/robot.2008.4543498","mag":"2143792422"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543498","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543498","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 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/A5101613714","display_name":"Jing Zhao","orcid":"https://orcid.org/0000-0001-5627-4156"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhao Jing","raw_affiliation_strings":["College of Mechanical Engineeringand Applied Electronics Technology, Beijing University of Technology, Beijing, China","Coll. of Mech. Eng. & Appl. Electron. Technol., Beijing Univ. of Technol., Beijing"],"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineeringand Applied Electronics Technology, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]},{"raw_affiliation_string":"Coll. of Mech. Eng. & Appl. Electron. Technol., Beijing Univ. of Technol., Beijing","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100340542","display_name":"Qian Li","orcid":"https://orcid.org/0000-0001-7922-598X"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Qian","raw_affiliation_strings":["College of Mechanical Engineeringand Applied Electronics Technology, Beijing University of Technology, Beijing, China","Coll. of Mech. Eng. & Appl. Electron. Technol., Beijing Univ. of Technol., Beijing"],"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineeringand Applied Electronics Technology, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]},{"raw_affiliation_string":"Coll. of Mech. Eng. & Appl. Electron. Technol., Beijing Univ. of Technol., Beijing","institution_ids":["https://openalex.org/I37796252"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101613714"],"corresponding_institution_ids":["https://openalex.org/I37796252"],"apc_list":null,"apc_paid":null,"fwci":3.29,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.9268779,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1987","last_page":"1992"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991000294685364,"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":0.9991000294685364,"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/T10879","display_name":"Robotic Locomotion and Control","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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9955000281333923,"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/jump","display_name":"Jump","score":0.8696117401123047},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7143105268478394},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.7095099687576294},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5788153409957886},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5088401436805725},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5076533555984497},{"id":"https://openalex.org/keywords/norm","display_name":"Norm (philosophy)","score":0.47649043798446655},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47350695729255676},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.42826634645462036},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.41542401909828186},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.34147506952285767},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18107998371124268},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18086528778076172},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.12321028113365173},{"id":"https://openalex.org/keywords/law","display_name":"Law","score":0.06373724341392517},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.059420645236968994}],"concepts":[{"id":"https://openalex.org/C2780695682","wikidata":"https://www.wikidata.org/wiki/Q4005959","display_name":"Jump","level":2,"score":0.8696117401123047},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7143105268478394},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.7095099687576294},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5788153409957886},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5088401436805725},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5076533555984497},{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.47649043798446655},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47350695729255676},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.42826634645462036},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.41542401909828186},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.34147506952285767},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18107998371124268},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18086528778076172},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.12321028113365173},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.06373724341392517},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.059420645236968994},{"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/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2008.4543498","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543498","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1490510535","https://openalex.org/W1870817159","https://openalex.org/W1928612787","https://openalex.org/W1980700168","https://openalex.org/W1986465420","https://openalex.org/W2033775388","https://openalex.org/W2049617391","https://openalex.org/W2054948374","https://openalex.org/W2057578039","https://openalex.org/W2058939855","https://openalex.org/W2067415344","https://openalex.org/W2078053261","https://openalex.org/W2109464322","https://openalex.org/W2152194163","https://openalex.org/W2167618108","https://openalex.org/W2171298449","https://openalex.org/W2507079474","https://openalex.org/W4238961848","https://openalex.org/W6676452014"],"related_works":["https://openalex.org/W2351666715","https://openalex.org/W2010009304","https://openalex.org/W1967543778","https://openalex.org/W2757332726","https://openalex.org/W2382902960","https://openalex.org/W3021694725","https://openalex.org/W2369384937","https://openalex.org/W2793265400","https://openalex.org/W3114149462","https://openalex.org/W2490674474"],"abstract_inverted_index":{"The":[0],"joint":[1,25,39,44,135],"velocity":[2,26,60,136],"jump":[3,29,50,55,87,137],"for":[4,36,126],"redundant":[5,144],"robots":[6,145],"in":[7,15,120,146],"the":[8,19,23,49,53,58,66,85,116,134,140,151,153,158,161],"presence":[9],"of":[10,22,143,163],"locked-joint":[11],"failures":[12],"is":[13,30,62,88,109,123],"discussed":[14],"this":[16,70,77,121,164],"paper.":[17],"First,":[18],"analytical":[20],"formula":[21],"optimal":[24],"with":[27,84,95],"minimum":[28,54,86],"derived,":[31],"and":[32,41,57,65,100,105,130],"its":[33],"specific":[34],"expressions":[35],"both":[37],"all":[38],"failure":[40,45],"certain":[42],"single":[43],"are":[46,72,93],"presented.":[47],"Then,":[48],"difference":[51,71],"between":[52],"solution":[56,61],"least-norm":[59],"mathematically":[63],"analyzed,":[64],"influence":[67],"factors":[68],"on":[69,76],"also":[73,110],"discussed.":[74],"Based":[75],"formula,":[78],"a":[79,96,101],"new":[80,117,165],"fault":[81,147],"tolerant":[82,148],"algorithm":[83,118,166],"proposed.":[89],"Finally":[90],"simulation":[91],"examples":[92],"implemented":[94],"planar":[97],"3R":[98],"robot":[99],"4R":[102],"spatial":[103],"robot,":[104],"an":[106],"experimental":[107],"study":[108],"done.":[111],"Study":[112],"results":[113],"indicate":[114],"that":[115],"proposed":[119],"paper":[122],"well":[124],"suited":[125],"real":[127],"time":[128],"implementation,":[129],"can":[131],"further":[132],"reduce":[133],"thereby":[138],"improving":[139],"motion":[141],"stability":[142],"operations.":[149],"Also,":[150],"fewer":[152],"possible":[154],"failed":[155],"joints":[156],"are,":[157],"more":[159],"obvious":[160],"effect":[162],"is.":[167]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}