{"id":"https://openalex.org/W3198592932","doi":"https://doi.org/10.1177/02783649211069156","title":"Joint search of optimal topology and trajectory for planar linkages","display_name":"Joint search of optimal topology and trajectory for planar linkages","publication_year":2022,"publication_date":"2022-03-28","ids":{"openalex":"https://openalex.org/W3198592932","doi":"https://doi.org/10.1177/02783649211069156","mag":"3198592932"},"language":"en","primary_location":{"id":"doi:10.1177/02783649211069156","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649211069156","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5016686740","display_name":"Zherong Pan","orcid":"https://orcid.org/0000-0001-9348-526X"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]},{"id":"https://openalex.org/I4210108985","display_name":"Bellevue Hospital Center","ror":"https://ror.org/01ky34z31","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1283621791","https://openalex.org/I4210086933","https://openalex.org/I4210108985"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Zherong Pan","raw_affiliation_strings":["Department of Computer Science, University of Illinois at Urbana-Champaign, Urbana, IL, USA","Lightspeed & Quantum Studio, Tencent America, Bellevue, WA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Illinois at Urbana-Champaign, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Lightspeed & Quantum Studio, Tencent America, Bellevue, WA, USA","institution_ids":["https://openalex.org/I4210108985"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067242466","display_name":"Min Liu","orcid":"https://orcid.org/0000-0003-3086-315X"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Min Liu","raw_affiliation_strings":["Department of Computer Science and Electrical & Computer Engineering, University of Maryland at College Park, College Park, MD, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Electrical & Computer Engineering, University of Maryland at College Park, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068002544","display_name":"Xifeng Gao","orcid":"https://orcid.org/0000-0003-0829-7075"},"institutions":[{"id":"https://openalex.org/I103163165","display_name":"Florida State University","ror":"https://ror.org/05g3dte14","country_code":"US","type":"education","lineage":["https://openalex.org/I103163165"]},{"id":"https://openalex.org/I4210108985","display_name":"Bellevue Hospital Center","ror":"https://ror.org/01ky34z31","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1283621791","https://openalex.org/I4210086933","https://openalex.org/I4210108985"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xifeng Gao","raw_affiliation_strings":["Department of Computer Science, Florida State University, Tallahassee, FL, USA","Lightspeed & Quantum Studio, Tencent America, Bellevue, WA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Florida State University, Tallahassee, FL, USA","institution_ids":["https://openalex.org/I103163165"]},{"raw_affiliation_string":"Lightspeed & Quantum Studio, Tencent America, Bellevue, WA, USA","institution_ids":["https://openalex.org/I4210108985"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004194238","display_name":"Dinesh Manocha","orcid":"https://orcid.org/0000-0001-7047-9801"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dinesh Manocha","raw_affiliation_strings":["Department of Computer Science and Electrical & Computer Engineering, University of Maryland at College Park, College Park, MD, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Electrical & Computer Engineering, University of Maryland at College Park, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5016686740","https://openalex.org/A5067242466"],"corresponding_institution_ids":["https://openalex.org/I157725225","https://openalex.org/I4210108985","https://openalex.org/I66946132"],"apc_list":null,"apc_paid":null,"fwci":0.9698,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.72823346,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"42","issue":"4-5","first_page":"176","last_page":"195"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9988999962806702,"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":0.9950000047683716,"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/simulated-annealing","display_name":"Simulated annealing","score":0.6191573739051819},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.604569673538208},{"id":"https://openalex.org/keywords/linkage","display_name":"Linkage (software)","score":0.603540301322937},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.5880902409553528},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5585781335830688},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.5452758073806763},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5329383611679077},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.49669796228408813},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45063912868499756},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.432089626789093},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4212223291397095},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.41646844148635864},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.40651682019233704},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.3802189826965332},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37358900904655457},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1511673629283905}],"concepts":[{"id":"https://openalex.org/C126980161","wikidata":"https://www.wikidata.org/wiki/Q863783","display_name":"Simulated annealing","level":2,"score":0.6191573739051819},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.604569673538208},{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.603540301322937},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.5880902409553528},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5585781335830688},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.5452758073806763},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5329383611679077},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.49669796228408813},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45063912868499756},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.432089626789093},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4212223291397095},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.41646844148635864},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.40651682019233704},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.3802189826965332},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37358900904655457},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1511673629283905},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783649211069156","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649211069156","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.44999998807907104,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G2992874282","display_name":null,"funder_award_id":"W911NF-18-1-0313","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"}],"funders":[{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W180478659","https://openalex.org/W618254468","https://openalex.org/W805566928","https://openalex.org/W1762430620","https://openalex.org/W1917545407","https://openalex.org/W1978802950","https://openalex.org/W1988211739","https://openalex.org/W1994082200","https://openalex.org/W2000038792","https://openalex.org/W2000964990","https://openalex.org/W2015149365","https://openalex.org/W2015774454","https://openalex.org/W2024057672","https://openalex.org/W2025338486","https://openalex.org/W2030485731","https://openalex.org/W2030683395","https://openalex.org/W2031533893","https://openalex.org/W2034063569","https://openalex.org/W2038966384","https://openalex.org/W2082755095","https://openalex.org/W2095179038","https://openalex.org/W2097278667","https://openalex.org/W2098425563","https://openalex.org/W2126381243","https://openalex.org/W2139841931","https://openalex.org/W2144931885","https://openalex.org/W2146475250","https://openalex.org/W2151833886","https://openalex.org/W2154931905","https://openalex.org/W2156439985","https://openalex.org/W2158140581","https://openalex.org/W2165281529","https://openalex.org/W2293858106","https://openalex.org/W2330108497","https://openalex.org/W2344411534","https://openalex.org/W2493146387","https://openalex.org/W2736736250","https://openalex.org/W2785222679","https://openalex.org/W2791713000","https://openalex.org/W2807229064","https://openalex.org/W2811441473","https://openalex.org/W2912522929","https://openalex.org/W2945457284","https://openalex.org/W2963826410","https://openalex.org/W2963990227","https://openalex.org/W2967894826","https://openalex.org/W2968042644","https://openalex.org/W2980626718","https://openalex.org/W2997649476","https://openalex.org/W3035449648","https://openalex.org/W3130844503","https://openalex.org/W3144729796","https://openalex.org/W4230167402","https://openalex.org/W6609581451"],"related_works":["https://openalex.org/W1965569281","https://openalex.org/W2546046681","https://openalex.org/W2363850205","https://openalex.org/W4206704743","https://openalex.org/W2387241522","https://openalex.org/W4210895176","https://openalex.org/W4312674943","https://openalex.org/W2327930114","https://openalex.org/W2478592842","https://openalex.org/W4245653589"],"abstract_inverted_index":{"We":[0,84,106,128,187],"present":[1],"an":[2,29,36],"algorithm":[3,161],"to":[4,113,158],"compute":[5],"planar":[6,134,166,194],"linkage":[7,17],"topology":[8],"and":[9,46,55,64,82,97,108,124,155],"geometry,":[10],"given":[11,79],"a":[12,25,89,159,169,174,202],"user-specified":[13],"end-effector":[14],"trajectory.":[15],"Planar":[16],"structures":[18,48,61],"convert":[19],"rotational":[20],"or":[21],"prismatic":[22],"motions":[23],"of":[24,59,163,171,185,191,201],"single":[26],"actuator":[27],"into":[28],"arbitrarily":[30],"complex":[31],"periodic":[32],"motion,":[33],"which":[34,177],"is":[35],"important":[37],"component":[38],"when":[39],"building":[40],"low-cost,":[41],"modular":[42],"robots,":[43],"mechanical":[44],"toys,":[45],"foldable":[47],"in":[49,183],"our":[50,192],"daily":[51],"lives":[52],"(chairs,":[53],"bikes,":[54],"shelves).":[56],"The":[57],"design":[58],"such":[60],"requires":[62],"trial":[63],"error":[65],"even":[66],"for":[67,75,133],"experienced":[68],"engineers.":[69],"Our":[70,142],"research":[71],"provides":[72],"semi-automatic":[73],"methods":[74],"exploring":[76],"novel":[77],"designs":[78],"high-level":[80],"specifications":[81],"constraints.":[83],"formulate":[85],"this":[86,115],"problem":[87],"as":[88,199],"non-smooth":[90],"numerical":[91],"optimization":[92],"with":[93],"quadratic":[94,99],"objective":[95],"functions":[96],"non-convex":[98],"constraints":[100],"involving":[101,136],"mixed-integer":[102,117,120],"decision":[103],"variables":[104],"(MIQCQP).":[105],"propose":[107],"compare":[109],"three":[110],"approximate":[111],"algorithms":[112,131],"solve":[114],"problem:":[116],"conic-programming":[118],"(MICP),":[119],"nonlinear":[121],"programming":[122],"(MINLP),":[123],"simulated":[125],"annealing":[126],"(SA).":[127],"evaluated":[129],"these":[130],"searching":[132],"linkages":[135,167,195],"10":[137],"\u2212":[138],"14":[139],"rigid":[140],"links.":[141],"results":[143],"show":[144],"that":[145],"the":[146,165,180,189],"best":[147],"performance":[148],"can":[149],"be":[150],"achieved":[151],"by":[152,196],"combining":[153],"MICP":[154],"MINLP,":[156],"leading":[157],"hybrid":[160],"capable":[162],"finding":[164],"within":[168],"couple":[170],"hours":[172],"on":[173],"desktop":[175],"machine,":[176],"significantly":[178],"outperforms":[179],"SA":[181],"baseline":[182],"terms":[184],"optimality.":[186],"highlight":[188],"effectiveness":[190],"optimized":[193],"using":[197],"them":[198],"legs":[200],"walking":[203],"robot.":[204]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
