{"id":"https://openalex.org/W4296137002","doi":"https://doi.org/10.3390/robotics11050093","title":"Collision Avoidance for Redundant 7-DOF Robots Using a Critically Damped Dynamic Approach","display_name":"Collision Avoidance for Redundant 7-DOF Robots Using a Critically Damped Dynamic Approach","publication_year":2022,"publication_date":"2022-09-08","ids":{"openalex":"https://openalex.org/W4296137002","doi":"https://doi.org/10.3390/robotics11050093"},"language":"en","primary_location":{"id":"doi:10.3390/robotics11050093","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11050093","pdf_url":"https://www.mdpi.com/2218-6581/11/5/93/pdf?version=1665657138","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/11/5/93/pdf?version=1665657138","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024494462","display_name":"Henrique Simas","orcid":"https://orcid.org/0000-0002-1858-541X"},"institutions":[{"id":"https://openalex.org/I4104125","display_name":"Universidade Federal de Santa Catarina","ror":"https://ror.org/041akq887","country_code":"BR","type":"education","lineage":["https://openalex.org/I4104125"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Henrique Simas","raw_affiliation_strings":["Raul Guenther Lab. of Applied Robotics, Department of Mechanical Engineering, Federal University of Santa Catarina, Florian\u00f3polis 88040-900, Brazil"],"raw_orcid":"https://orcid.org/0000-0002-1858-541X","affiliations":[{"raw_affiliation_string":"Raul Guenther Lab. of Applied Robotics, Department of Mechanical Engineering, Federal University of Santa Catarina, Florian\u00f3polis 88040-900, Brazil","institution_ids":["https://openalex.org/I4104125"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013092459","display_name":"Raffaele Di Gregorio","orcid":"https://orcid.org/0000-0003-3925-3016"},"institutions":[{"id":"https://openalex.org/I201324441","display_name":"University of Ferrara","ror":"https://ror.org/041zkgm14","country_code":"IT","type":"education","lineage":["https://openalex.org/I201324441"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Raffaele Di Gregorio","raw_affiliation_strings":["Lab. of Mechatronics and Virtual Prototyping (LaMaViP), Department of Engineering, University of Ferrara, Via Saragat,1, 44100 Ferrara, Italy"],"raw_orcid":"https://orcid.org/0000-0003-3925-3016","affiliations":[{"raw_affiliation_string":"Lab. of Mechatronics and Virtual Prototyping (LaMaViP), Department of Engineering, University of Ferrara, Via Saragat,1, 44100 Ferrara, Italy","institution_ids":["https://openalex.org/I201324441"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5013092459"],"corresponding_institution_ids":["https://openalex.org/I201324441"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.6075,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.66189079,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"11","issue":"5","first_page":"93","last_page":"93"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7587177157402039},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6475618481636047},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.6441993117332458},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6352559924125671},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.616317868232727},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5947616100311279},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5518180727958679},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5041464567184448},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48562946915626526},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.43447771668434143},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4112265706062317},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4104650318622589},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3441822826862335},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34332239627838135},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2383825182914734},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08407929539680481}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7587177157402039},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6475618481636047},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.6441993117332458},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6352559924125671},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.616317868232727},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5947616100311279},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5518180727958679},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5041464567184448},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48562946915626526},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.43447771668434143},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4112265706062317},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4104650318622589},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3441822826862335},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34332239627838135},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2383825182914734},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08407929539680481},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/robotics11050093","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11050093","pdf_url":"https://www.mdpi.com/2218-6581/11/5/93/pdf?version=1665657138","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:26a8bf621d114f119d527666944e43f5","is_oa":true,"landing_page_url":"https://doaj.org/article/26a8bf621d114f119d527666944e43f5","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 11, Iss 5, p 93 (2022)","raw_type":"article"},{"id":"pmh:oai:iris.unife.it:11392/2500738","is_oa":false,"landing_page_url":"https://hdl.handle.net/11392/2500738","pdf_url":null,"source":{"id":"https://openalex.org/S4306400369","display_name":"Institutional Research Information System University of Ferrara (University of Ferrara)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I201324441","host_organization_name":"University of Ferrara","host_organization_lineage":["https://openalex.org/I201324441"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:mdpi.com:/2218-6581/11/5/93/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics11050093","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics","raw_type":"Text"},{"id":"pmh:oai:sfera.unife.it:11392/2500738","is_oa":true,"landing_page_url":"https://www.mdpi.com/2218-6581/11/5/93","pdf_url":null,"source":{"id":"https://openalex.org/S4306400369","display_name":"Institutional Research Information System University of Ferrara (University of Ferrara)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I201324441","host_organization_name":"University of Ferrara","host_organization_lineage":["https://openalex.org/I201324441"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.3390/robotics11050093","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11050093","pdf_url":"https://www.mdpi.com/2218-6581/11/5/93/pdf?version=1665657138","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2535957384","display_name":null,"funder_award_id":"FAR2020","funder_id":"https://openalex.org/F4320324162","funder_display_name":"Universit\u00e0 degli Studi di Ferrara"},{"id":"https://openalex.org/G4543514620","display_name":null,"funder_award_id":"307249/2021-2","funder_id":"https://openalex.org/F4320322025","funder_display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico"},{"id":"https://openalex.org/G5102534030","display_name":null,"funder_award_id":"UNIFE FAR2020","funder_id":"https://openalex.org/F4320324162","funder_display_name":"Universit\u00e0 degli Studi di Ferrara"},{"id":"https://openalex.org/G7697203187","display_name":null,"funder_award_id":"307249/2021-2","funder_id":"https://openalex.org/F4320324162","funder_display_name":"Universit\u00e0 degli Studi di Ferrara"}],"funders":[{"id":"https://openalex.org/F4320322025","display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","ror":"https://ror.org/03swz6y49"},{"id":"https://openalex.org/F4320324147","display_name":"Universidade Federal de Santa Catarina","ror":"https://ror.org/041akq887"},{"id":"https://openalex.org/F4320324162","display_name":"Universit\u00e0 degli Studi di Ferrara","ror":"https://ror.org/041zkgm14"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4296137002.pdf","grobid_xml":"https://content.openalex.org/works/W4296137002.grobid-xml"},"referenced_works_count":48,"referenced_works":["https://openalex.org/W280536263","https://openalex.org/W796041032","https://openalex.org/W1485821207","https://openalex.org/W1503567288","https://openalex.org/W1921727609","https://openalex.org/W1985943247","https://openalex.org/W1993938889","https://openalex.org/W2007903053","https://openalex.org/W2019965290","https://openalex.org/W2042913147","https://openalex.org/W2045918489","https://openalex.org/W2065261714","https://openalex.org/W2076202257","https://openalex.org/W2119625123","https://openalex.org/W2129644801","https://openalex.org/W2170325269","https://openalex.org/W2546032090","https://openalex.org/W2561340204","https://openalex.org/W2564845968","https://openalex.org/W2612275039","https://openalex.org/W2620768847","https://openalex.org/W2625306903","https://openalex.org/W2738714761","https://openalex.org/W2758462967","https://openalex.org/W2760436887","https://openalex.org/W2765300328","https://openalex.org/W2767708052","https://openalex.org/W2768688993","https://openalex.org/W2769232004","https://openalex.org/W2772804864","https://openalex.org/W2773976502","https://openalex.org/W2791635932","https://openalex.org/W2887867318","https://openalex.org/W2891691752","https://openalex.org/W2911305610","https://openalex.org/W2922464707","https://openalex.org/W2937836759","https://openalex.org/W2947041828","https://openalex.org/W2952133470","https://openalex.org/W2962678727","https://openalex.org/W2972418446","https://openalex.org/W2984441430","https://openalex.org/W2991301202","https://openalex.org/W2993247505","https://openalex.org/W3034118413","https://openalex.org/W4245882831","https://openalex.org/W4253116006","https://openalex.org/W6681532280"],"related_works":["https://openalex.org/W2883550785","https://openalex.org/W1992503747","https://openalex.org/W2890977713","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2138030819","https://openalex.org/W2537091977","https://openalex.org/W1973219440","https://openalex.org/W2973854518","https://openalex.org/W4231651419"],"abstract_inverted_index":{"The":[0,51,101],"presence":[1],"of":[2,19,30,53,56,86,144],"collaborative":[3],"robots":[4,82],"in":[5,16,81],"industrial":[6],"environments":[7],"requires":[8],"that":[9,34,43,152],"their":[10],"control":[11],"strategies":[12],"include":[13],"collision":[14,23,58,155],"avoidance":[15,24,156],"the":[17,31,36,41,54,57,61,69,126,141,145,149,154],"generation":[18],"trajectories.":[20],"In":[21],"general,":[22],"is":[25,103,120],"performed":[26],"via":[27],"additional":[28],"displacements":[29],"kinematic":[32,117],"chain":[33],"make":[35],"robot":[37,111,147],"move":[38],"far":[39],"from":[40],"objects":[42],"are":[44],"occasionally":[45],"inserted":[46],"into":[47],"its":[48,160],"safety":[49,62],"workspace.":[50],"variability":[52],"coordinates":[55],"points":[59],"inside":[60],"volume":[63],"leads":[64],"to":[65,108,124],"abrupt":[66,79],"movements":[67,80],"for":[68,77,88,129,140],"robot.":[70],"This":[71,133],"paper":[72,134],"presents":[73,136],"a":[74,92,109,113,121],"general":[75],"method":[76,102],"smoothing":[78],"with":[83,97,112],"one":[84],"degree":[85],"redundancy":[87],"collision-avoidance":[89],"trajectories,":[90],"employing":[91],"second-order":[93],"digital":[94],"filter":[95],"designed":[96],"adjustable":[98],"critical":[99],"damping.":[100],"illustrated":[104],"by":[105],"applying":[106],"it":[107],"redundant":[110],"spherical\u2013revolute\u2013spherical":[114],"type":[115],"(SRS-type)":[116],"chain,":[118],"which":[119],"benchmark":[122],"used":[123],"test":[125],"algorithms":[127],"ideated":[128],"solving":[130],"this":[131],"problem.":[132],"also":[135],"an":[137],"alternative":[138],"algorithm":[139],"inverse":[142],"kinematics":[143],"SRS-type":[146],"and":[148,159],"computational":[150],"experiments":[151],"show":[153],"proposal\u2019s":[157],"performance":[158],"properties":[161],"through":[162],"graphical":[163],"results.":[164]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}