{"id":"https://openalex.org/W4200180043","doi":"https://doi.org/10.1145/3478586.3478620","title":"Comparative Study of Inverse Kinematics Using Data Driven And FABRIK Approach","display_name":"Comparative Study of Inverse Kinematics Using Data Driven And FABRIK Approach","publication_year":2021,"publication_date":"2021-06-30","ids":{"openalex":"https://openalex.org/W4200180043","doi":"https://doi.org/10.1145/3478586.3478620"},"language":"en","primary_location":{"id":"doi:10.1145/3478586.3478620","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3478586.3478620","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advances in Robotics - 5th International Conference of The Robotics Society","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/A5064062259","display_name":"Vijay Bhaskar Semwal","orcid":"https://orcid.org/0000-0003-0767-6057"},"institutions":[{"id":"https://openalex.org/I91277730","display_name":"Maulana Azad National Institute of Technology","ror":"https://ror.org/026vtd268","country_code":"IN","type":"education","lineage":["https://openalex.org/I91277730"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Vijay Bhaskar Semwal","raw_affiliation_strings":["MANIT Bhopal, India"],"affiliations":[{"raw_affiliation_string":"MANIT Bhopal, India","institution_ids":["https://openalex.org/I91277730"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089536950","display_name":"M. Udayapal Reddy","orcid":null},"institutions":[{"id":"https://openalex.org/I91277730","display_name":"Maulana Azad National Institute of Technology","ror":"https://ror.org/026vtd268","country_code":"IN","type":"education","lineage":["https://openalex.org/I91277730"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Meghana Reddy","raw_affiliation_strings":["MANIT Bhopal, India"],"affiliations":[{"raw_affiliation_string":"MANIT Bhopal, India","institution_ids":["https://openalex.org/I91277730"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013624670","display_name":"Aditya Narad","orcid":null},"institutions":[{"id":"https://openalex.org/I91277730","display_name":"Maulana Azad National Institute of Technology","ror":"https://ror.org/026vtd268","country_code":"IN","type":"education","lineage":["https://openalex.org/I91277730"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Aditya Narad","raw_affiliation_strings":["MANIT Bhopal, India"],"affiliations":[{"raw_affiliation_string":"MANIT Bhopal, India","institution_ids":["https://openalex.org/I91277730"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5064062259"],"corresponding_institution_ids":["https://openalex.org/I91277730"],"apc_list":null,"apc_paid":null,"fwci":0.824,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.7332947,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"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":1.0,"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":1.0,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9962999820709229,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.9248335361480713},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7484714984893799},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6111245155334473},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.6002233624458313},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5703762173652649},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5560933351516724},{"id":"https://openalex.org/keywords/inverse-problem","display_name":"Inverse problem","score":0.5261164307594299},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.5232685804367065},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4947054088115692},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.48453110456466675},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.46500903367996216},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.4169612526893616},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.41606080532073975},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.3898693025112152},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38515377044677734},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31436145305633545},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.271734356880188},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.24497881531715393},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09712094068527222},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.07988634705543518},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.07721960544586182},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06001719832420349}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.9248335361480713},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7484714984893799},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6111245155334473},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.6002233624458313},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5703762173652649},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5560933351516724},{"id":"https://openalex.org/C135252773","wikidata":"https://www.wikidata.org/wiki/Q1567213","display_name":"Inverse problem","level":2,"score":0.5261164307594299},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.5232685804367065},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4947054088115692},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.48453110456466675},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.46500903367996216},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.4169612526893616},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.41606080532073975},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3898693025112152},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38515377044677734},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31436145305633545},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.271734356880188},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.24497881531715393},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09712094068527222},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.07988634705543518},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07721960544586182},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06001719832420349},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3478586.3478620","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3478586.3478620","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advances in Robotics - 5th International Conference of The Robotics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G760436676","display_name":null,"funder_award_id":"ECR/2018/000203","funder_id":"https://openalex.org/F4320334771","funder_display_name":"Science and Engineering Research Board"}],"funders":[{"id":"https://openalex.org/F4320334771","display_name":"Science and Engineering Research Board","ror":"https://ror.org/03ffdsr55"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1605181360","https://openalex.org/W1988073274","https://openalex.org/W1999165127","https://openalex.org/W2005872817","https://openalex.org/W2009563859","https://openalex.org/W2071151816","https://openalex.org/W2099687935","https://openalex.org/W2323226228","https://openalex.org/W2400723233","https://openalex.org/W2792251619","https://openalex.org/W3092534834"],"related_works":["https://openalex.org/W2350075556","https://openalex.org/W2640537402","https://openalex.org/W2056447575","https://openalex.org/W2084418998","https://openalex.org/W4205287803","https://openalex.org/W2392920269","https://openalex.org/W3043416344","https://openalex.org/W4230062614","https://openalex.org/W2767908835","https://openalex.org/W155342735"],"abstract_inverted_index":{"One":[0],"of":[1,9],"the":[2,7,13],"most":[3],"important":[4],"problem":[5],"in":[6,50],"field":[8],"robotics":[10],"is":[11,33,80],"solving":[12,28,75],"inverse":[14],"kinematics.":[15],"Various":[16],"analytical,":[17],"iterative":[18],"and":[19,45,69],"data":[20],"driven":[21],"techniques":[22],"have":[23],"already":[24],"been":[25],"proposed":[26],"for":[27,74],"this":[29,51],"problem.":[30],"But":[31],"there":[32],"still":[34],"a":[35,41,55,83],"debate":[36],"on":[37],"which":[38],"approach":[39],"provides":[40],"better":[42],"performance,":[43],"reliability":[44],"requires":[46],"low":[47],"computation.":[48],"So,":[49],"paper":[52],"we":[53],"provide":[54],"performance":[56,79],"comparison":[57],"between":[58],"two":[59],"such":[60],"techniques-":[61],"FABRIK":[62],"(Forward":[63],"And":[64],"Backward":[65],"Reaching":[66],"Inverse":[67,76],"Kinematics)":[68],"neural":[70],"network":[71],"based":[72],"approach,":[73],"Kinematics.":[77],"The":[78],"analysed":[81],"using":[82],"3-link":[84],"planar":[85],"manipulator.":[86]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
