{"id":"https://openalex.org/W4401835598","doi":"https://doi.org/10.1109/tii.2024.3441661","title":"Whole-Body Inverse Kinematics and Operation-Oriented Motion Planning for Robot Mobile Manipulation","display_name":"Whole-Body Inverse Kinematics and Operation-Oriented Motion Planning for Robot Mobile Manipulation","publication_year":2024,"publication_date":"2024-08-23","ids":{"openalex":"https://openalex.org/W4401835598","doi":"https://doi.org/10.1109/tii.2024.3441661"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2024.3441661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2024.3441661","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Informatics","raw_type":"journal-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/A5067690467","display_name":"Tianlei Jin","orcid":"https://orcid.org/0000-0001-8682-7946"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianlei Jin","raw_affiliation_strings":["Intelligent Robotics Research Center, Zhejiang Lab, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-8682-7946","affiliations":[{"raw_affiliation_string":"Intelligent Robotics Research Center, Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025607153","display_name":"Hongwei Zhu","orcid":"https://orcid.org/0000-0001-6484-3371"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongwei Zhu","raw_affiliation_strings":["Intelligent Robotics Research Center, Zhejiang Lab, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Research Center, Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101520247","display_name":"Jiakai Zhu","orcid":"https://orcid.org/0000-0002-6453-0663"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiakai Zhu","raw_affiliation_strings":["Intelligent Robotics Research Center, Zhejiang Lab, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-6453-0663","affiliations":[{"raw_affiliation_string":"Intelligent Robotics Research Center, Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039356472","display_name":"Shiqiang Zhu","orcid":"https://orcid.org/0000-0002-5687-4001"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiqiang Zhu","raw_affiliation_strings":["School of Mechanical Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046557433","display_name":"Zaixing He","orcid":"https://orcid.org/0000-0003-0577-8009"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zaixing He","raw_affiliation_strings":["School of Mechanical Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-0577-8009","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041037485","display_name":"Shuyou Zhang","orcid":"https://orcid.org/0000-0001-9023-5361"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuyou Zhang","raw_affiliation_strings":["School of Mechanical Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-9023-5361","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074371475","display_name":"Wei Song","orcid":"https://orcid.org/0000-0002-0828-7486"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Song","raw_affiliation_strings":["Intelligent Robotics Research Center, Zhejiang Lab, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-0828-7486","affiliations":[{"raw_affiliation_string":"Intelligent Robotics Research Center, Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010340252","display_name":"Jason Gu","orcid":"https://orcid.org/0000-0002-7626-1077"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jason Gu","raw_affiliation_strings":["Electrical and Computer Engineering, Dalhousie University, Halifax, China"],"raw_orcid":"https://orcid.org/0000-0002-7626-1077","affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering, Dalhousie University, Halifax, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6292,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.83648926,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"20","issue":"12","first_page":"14239","last_page":"14248"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9894000291824341,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9894000291824341,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9692000150680542,"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":0.944599986076355,"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/inverse-kinematics","display_name":"Inverse kinematics","score":0.8031780123710632},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7456313967704773},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6131947040557861},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5574051141738892},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5531159043312073},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5386379361152649},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4578172266483307},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40143275260925293},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30674463510513306},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20558807253837585},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12261942028999329}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.8031780123710632},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7456313967704773},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6131947040557861},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5574051141738892},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5531159043312073},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5386379361152649},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4578172266483307},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40143275260925293},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30674463510513306},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20558807253837585},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12261942028999329}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tii.2024.3441661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2024.3441661","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Informatics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.4699999988079071}],"awards":[{"id":"https://openalex.org/G492650815","display_name":null,"funder_award_id":"U21A20488","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5526467620","display_name":null,"funder_award_id":"52106031","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1558446093","https://openalex.org/W1971086298","https://openalex.org/W2028099324","https://openalex.org/W2030929340","https://openalex.org/W2044429593","https://openalex.org/W2141664020","https://openalex.org/W2156963109","https://openalex.org/W2616932271","https://openalex.org/W2794029453","https://openalex.org/W2899575514","https://openalex.org/W2950635152","https://openalex.org/W2962869696","https://openalex.org/W2964160067","https://openalex.org/W3004003273","https://openalex.org/W3047385205","https://openalex.org/W3132817092","https://openalex.org/W3197704885","https://openalex.org/W3205043174","https://openalex.org/W3212826513","https://openalex.org/W4225013368","https://openalex.org/W4285273130","https://openalex.org/W4306794903","https://openalex.org/W4320340713","https://openalex.org/W4367280782","https://openalex.org/W4377971264","https://openalex.org/W4383097621","https://openalex.org/W6605295560","https://openalex.org/W6766978945","https://openalex.org/W6846490382"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W1996912299","https://openalex.org/W4235013387","https://openalex.org/W1904098742","https://openalex.org/W2972304526","https://openalex.org/W2119963650"],"abstract_inverted_index":{"High":[0],"DoF":[1,105,120],"mobile":[2,22,44,189,210],"manipulation":[3,211],"of":[4,20,106,158,198],"robots":[5],"is":[6],"a":[7,55,97,134,183,188],"nonlinear,":[8],"nonchain":[9],"redundant":[10],"problem.":[11],"In":[12],"this":[13],"article,":[14],"we":[15,95,132,177],"focus":[16],"on":[17,112,141,182,202],"two":[18,83],"subissues":[19],"robot":[21,38,186],"manipulation:":[23],"whole-body":[24,87,93],"inverse":[25],"kinematics":[26],"(whole-body":[27],"IK)":[28],"and":[29,42,71,89,108,144,187,206,208],"operation-oriented":[30],"motion":[31],"planning":[32],"(OOMP).":[33],"Whole-body":[34],"IK":[35,88,205],"solves":[36],"the":[37,43,50,59,63,113,124,142,154,159,165,195],"arm":[39],"joint":[40,109],"configuration":[41,47],"base":[45],"position":[46,107],"according":[48],"to":[49,62,85,102,122,137,152],"target":[51,64,114,160],"pose.":[52,65,115],"OOMP":[53],"generates":[54],"feasible":[56],"trajectory":[57,67,166],"from":[58,169],"current":[60],"pose":[61,126],"The":[66,192],"can":[68],"avoid":[69],"obstacles":[70],"touch":[72],"operated":[73],"objects.":[74],"We":[75,116,147],"introduce":[76],"neural":[77],"network":[78,100,136],"optimization":[79],"(NNO)":[80],"methods":[81],"with":[82],"variations":[84],"solve":[86],"OOMP,":[90,131,207],"respectively.":[91],"For":[92,130],"IK,":[94],"design":[96,133],"fully":[98],"connected":[99],"(FCN)":[101],"predict":[103],"ten":[104,119],"configurations":[110,121],"based":[111,140],"use":[117],"these":[118],"derive":[123],"predicted":[125],"for":[127],"online":[128],"optimization.":[129],"GRU-based":[135],"generate":[138],"trajectories":[139],"initial":[143],"goal":[145],"states.":[146],"mainly":[148],"adopt":[149],"sphere":[150,174],"masks":[151],"modify":[153],"point":[155,170],"cloud":[156],"properties":[157],"object":[161],"dynamically.":[162],"During":[163],"optimization,":[164],"keeps":[167],"away":[168],"clouds":[171],"but":[172],"approaches":[173],"masks.":[175],"Finally,":[176],"conduct":[178],"extensive":[179],"experiments":[180],"both":[181],"Franka":[184],"Panda":[185],"dual-arm":[190],"robot.":[191],"results":[193],"demonstrate":[194],"superior":[196],"performance":[197],"our":[199],"NNO":[200],"method":[201],"whole":[203],"body":[204],"implement":[209],"in":[212],"different":[213],"environments":[214],"successfully.":[215]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}
