{"id":"https://openalex.org/W1990227900","doi":"https://doi.org/10.1109/ssrr.2014.7017645","title":"On-line optimization of flexibility and low energy for redundant manipulator","display_name":"On-line optimization of flexibility and low energy for redundant manipulator","publication_year":2014,"publication_date":"2014-10-01","ids":{"openalex":"https://openalex.org/W1990227900","doi":"https://doi.org/10.1109/ssrr.2014.7017645","mag":"1990227900"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr.2014.7017645","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2014.7017645","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","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/A5042589204","display_name":"Long Wu","orcid":"https://orcid.org/0009-0006-8578-7755"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Wu","raw_affiliation_strings":["School of Mechatronics Engineering and Automation Shanghai University, Shanghai, China","School of Mechatronics Engineering and Automation, Shanghai University, 200072,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Shanghai University, 200072,China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067090170","display_name":"Wei Song","orcid":"https://orcid.org/0000-0002-5909-9661"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Song","raw_affiliation_strings":["School of Mechatronics Engineering and Automation Shanghai University, Shanghai, China","School of Mechatronics Engineering and Automation, Shanghai University, 200072,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Shanghai University, 200072,China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109476501","display_name":"Linyong Shen","orcid":null},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linyong Shen","raw_affiliation_strings":["School of Mechatronics Engineering and Automation Shanghai University, Shanghai, China","School of Mechatronics Engineering and Automation, Shanghai University, 200072,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Shanghai University, 200072,China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042571298","display_name":"Yanan Zhang","orcid":"https://orcid.org/0000-0002-7128-8852"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanan Zhang","raw_affiliation_strings":["School of Mechatronics Engineering and Automation Shanghai University, Shanghai, China","School of Mechatronics Engineering and Automation, Shanghai University, 200072,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Shanghai University, 200072,China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073454546","display_name":"Mamoru Minami","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mamoru Minami","raw_affiliation_strings":["Graduate School of Natural Science and Technology Okayama University, Okayama, Japan","Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushimanaka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Natural Science and Technology Okayama University, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]},{"raw_affiliation_string":"Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushimanaka, Japan","institution_ids":["https://openalex.org/I163770644"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.07956115,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9983999729156494,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.799888014793396},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.7210149765014648},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.6932097673416138},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6557662487030029},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.46754971146583557},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.45828738808631897},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.44077742099761963},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.4402011036872864},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4295721650123596},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4255630373954773},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.42100659012794495},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38617146015167236},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33882471919059753},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24802067875862122},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24693572521209717},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.142318457365036},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.13150569796562195},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10011589527130127},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09322255849838257},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.07843455672264099}],"concepts":[{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.799888014793396},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.7210149765014648},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.6932097673416138},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6557662487030029},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.46754971146583557},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.45828738808631897},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.44077742099761963},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.4402011036872864},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4295721650123596},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4255630373954773},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.42100659012794495},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38617146015167236},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33882471919059753},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24802067875862122},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24693572521209717},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.142318457365036},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.13150569796562195},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10011589527130127},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09322255849838257},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.07843455672264099},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssrr.2014.7017645","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2014.7017645","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8899999856948853}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1493449306","https://openalex.org/W1864838508","https://openalex.org/W2042970582","https://openalex.org/W2057721040","https://openalex.org/W2101611838","https://openalex.org/W2143202769","https://openalex.org/W2150289234","https://openalex.org/W4248446246","https://openalex.org/W6629525403"],"related_works":["https://openalex.org/W2357657342","https://openalex.org/W2153432761","https://openalex.org/W1580144672","https://openalex.org/W2152623100","https://openalex.org/W2142042635","https://openalex.org/W4214878056","https://openalex.org/W4248634784","https://openalex.org/W2103296973","https://openalex.org/W1988127757","https://openalex.org/W2130594209"],"abstract_inverted_index":{"Most":[0],"of":[1,21,48,54,112,127],"the":[2,11,35,55,69,80,108,113,134],"time":[3],"a":[4,17,29,46,51,90,128],"redundant":[5,91,130],"manipulator":[6,56,92,131],"do":[7],"not":[8],"need":[9],"all":[10],"links":[12,27],"work":[13,19],"hard":[14],"to":[15,78],"perform":[16],"given":[18],"because":[20],"redundancy.":[22],"It":[23],"looks":[24],"like":[25],"some":[26],"play":[28],"major":[30],"role":[31],"and":[32,57,104],"others":[33],"give":[34],"assistant":[36],"effect.":[37],"We":[38,83],"consider":[39],"it":[40,106],"could":[41],"be":[42,76],"executed":[43],"based":[44],"on":[45],"rule":[47],"keeping":[49],"with":[50,98,107,139],"high":[52],"flexibility":[53,96,138],"using":[58,102,120],"as":[59,62],"less":[60],"energy":[61,100,109,141],"possible.":[63],"Minami's":[64],"research":[65],"has":[66],"already":[67],"verified":[68],"Reconfiguration":[70],"Manipulability":[71],"Shape":[72],"Index":[73],"(RMSI)":[74],"can":[75,136],"used":[77],"evaluate":[79],"manipulator's":[81],"flexibility.":[82],"propose":[84],"an":[85],"on-line":[86],"control":[87],"method":[88,135],"for":[89],"by":[93,119],"optimizing":[94],"its":[95],"together":[97],"low":[99,140],"cost":[101,110,142],"RMSI,":[103],"add":[105],"function":[111],"joint-path.":[114],"On-line":[115],"optimization":[116],"is":[117],"solved":[118],"\u201c1-Step":[121],"GA":[122],"(Genetic":[123],"Algorithm)\u201d":[124],"technique.":[125],"Simulations":[126],"4-link":[129],"have":[132],"shown":[133],"improve":[137],"relatively.":[143]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}