{"id":"https://openalex.org/W2580655557","doi":"https://doi.org/10.1109/iscid.2016.2052","title":"A New Geometric Representation for Tree-Structured Robots","display_name":"A New Geometric Representation for Tree-Structured Robots","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2580655557","doi":"https://doi.org/10.1109/iscid.2016.2052","mag":"2580655557"},"language":"en","primary_location":{"id":"doi:10.1109/iscid.2016.2052","is_oa":false,"landing_page_url":"http://doi.org/10.1109/iscid.2016.2052","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 9th International Symposium on Computational Intelligence and Design (ISCID)","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/A5100360774","display_name":"Guodong Li","orcid":"https://orcid.org/0000-0003-2565-0870"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Guodong Li","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5100360774"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.26928288,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"28","issue":null,"first_page":"188","last_page":"193"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991999864578247,"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":0.9991999864578247,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9988999962806702,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9984999895095825,"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/robot","display_name":"Robot","score":0.7828903198242188},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7291852235794067},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7003787159919739},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.6637700200080872},{"id":"https://openalex.org/keywords/key-frame","display_name":"Key frame","score":0.5809307098388672},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5691533088684082},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5685222744941711},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5529360175132751},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.548901379108429},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.48641085624694824},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4260144531726837},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4073668122291565},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39347538352012634},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3613132834434509},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.30809712409973145},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21644693613052368},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1823413372039795},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09281930327415466}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7828903198242188},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7291852235794067},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7003787159919739},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.6637700200080872},{"id":"https://openalex.org/C2780139006","wikidata":"https://www.wikidata.org/wiki/Q1493902","display_name":"Key frame","level":3,"score":0.5809307098388672},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5691533088684082},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5685222744941711},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5529360175132751},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.548901379108429},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.48641085624694824},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4260144531726837},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4073668122291565},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39347538352012634},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3613132834434509},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30809712409973145},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21644693613052368},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1823413372039795},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09281930327415466},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iscid.2016.2052","is_oa":false,"landing_page_url":"http://doi.org/10.1109/iscid.2016.2052","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 9th International Symposium on Computational Intelligence and Design (ISCID)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W999936232","https://openalex.org/W1914893953","https://openalex.org/W1966552874","https://openalex.org/W1971908862","https://openalex.org/W1973862175","https://openalex.org/W2018911853","https://openalex.org/W2080017937","https://openalex.org/W2087102025","https://openalex.org/W2100476631","https://openalex.org/W2120512179","https://openalex.org/W2156791619","https://openalex.org/W2162046045","https://openalex.org/W2246023205","https://openalex.org/W2974557720","https://openalex.org/W6672367927"],"related_works":["https://openalex.org/W2331850854","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W4312096302","https://openalex.org/W2972304526","https://openalex.org/W2900509454","https://openalex.org/W2109003837","https://openalex.org/W2101598871","https://openalex.org/W2005471069","https://openalex.org/W2075639008"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,40,57,89,106,113,122],"solve":[3],"the":[4,8,33,51,59,68,78,91,96,111,127],"disaccord":[5],"resulted":[6],"from":[7],"existing":[9],"frame":[10,35],"assignment":[11,36],"conventions,":[12],"we":[13],"propose":[14],"a":[15,63],"modified":[16],"Denavit-Hartenberg":[17],"parameters":[18],"for":[19,26,118],"tree-structured":[20],"robots,":[21],"which":[22,45],"can":[23,103],"be":[24,104],"used":[25,39,105],"kinematic":[27,80],"and":[28,50,81,121],"dynamic":[29,82],"modelling":[30],"simultaneously.":[31],"Then,":[32],"new":[34],"method":[37],"is":[38,55,72],"our":[41],"designed":[42],"rehabilitation":[43,71],"robots":[44],"it":[46],"has":[47],"17":[48],"freedoms":[49],"whole":[52],"body":[53],"control":[54,109,124],"introduced":[56],"render":[58],"robot":[60],"working":[61],"in":[62,95,126],"corporative":[64],"way":[65],"such":[66],"that":[67],"difficult":[69],"leg-lifting":[70],"fulfilled.":[73],"Numerical":[74],"computation":[75],"shows":[76],"that,":[77],"derived":[79],"models":[83],"are":[84],"not":[85],"only":[86],"very":[87],"useful":[88],"optimize":[90],"robot's":[92],"mechanical":[93],"structure":[94],"early":[97],"design":[98],"stage,":[99],"but":[100],"also":[101],"they":[102],"implement":[107],"motion":[108],"of":[110],"robot,":[112],"carry":[114],"out":[115],"intensity":[116],"correction":[117],"key":[119],"parts":[120],"improve":[123],"performance":[125],"future":[128],"applications.":[129]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
