{"id":"https://openalex.org/W4390941970","doi":"https://doi.org/10.3390/robotics13010018","title":"Manipulation Planning for Cable Shape Control","display_name":"Manipulation Planning for Cable Shape Control","publication_year":2024,"publication_date":"2024-01-17","ids":{"openalex":"https://openalex.org/W4390941970","doi":"https://doi.org/10.3390/robotics13010018"},"language":"en","primary_location":{"id":"doi:10.3390/robotics13010018","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13010018","pdf_url":"https://www.mdpi.com/2218-6581/13/1/18/pdf?version=1705500683","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/2218-6581/13/1/18/pdf?version=1705500683","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028294725","display_name":"Karam Almaghout","orcid":"https://orcid.org/0000-0002-4757-3143"},"institutions":[{"id":"https://openalex.org/I4210116741","display_name":"Innopolis University","ror":"https://ror.org/02b7jh107","country_code":"RU","type":"education","lineage":["https://openalex.org/I4210116741"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Karam Almaghout","raw_affiliation_strings":["Intelligent Robotics Systems Laboratory, Institute of Robotics and Computer Vision, Innopolis University, Innopolis 420500, Russia"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Systems Laboratory, Institute of Robotics and Computer Vision, Innopolis University, Innopolis 420500, Russia","institution_ids":["https://openalex.org/I4210116741"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044427900","display_name":"Alexandr Klimchik","orcid":"https://orcid.org/0000-0002-2244-1849"},"institutions":[{"id":"https://openalex.org/I51532219","display_name":"University of Lincoln","ror":"https://ror.org/03yeq9x20","country_code":"GB","type":"education","lineage":["https://openalex.org/I51532219"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Alexandr Klimchik","raw_affiliation_strings":["Lincoln Centre for Autonomous Systems Research (L-CAS), School of Computer Science, University of Lincoln, Lincoln LN6 7TS, UK"],"affiliations":[{"raw_affiliation_string":"Lincoln Centre for Autonomous Systems Research (L-CAS), School of Computer Science, University of Lincoln, Lincoln LN6 7TS, UK","institution_ids":["https://openalex.org/I51532219"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5044427900"],"corresponding_institution_ids":["https://openalex.org/I51532219"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":1.7438,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.83054274,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"13","issue":"1","first_page":"18","last_page":"18"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9994999766349792,"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/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"}}],"keywords":[{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.686801016330719},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.48661836981773376},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4715031683444977},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.470051646232605},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4662887752056122},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4585869014263153},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4539801776409149},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42411544919013977},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.38872092962265015},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3599308133125305},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3481748700141907},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3479405343532562},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2602337598800659},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07312193512916565}],"concepts":[{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.686801016330719},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.48661836981773376},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4715031683444977},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.470051646232605},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4662887752056122},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4585869014263153},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4539801776409149},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42411544919013977},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.38872092962265015},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3599308133125305},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3481748700141907},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3479405343532562},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2602337598800659},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07312193512916565},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics13010018","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13010018","pdf_url":"https://www.mdpi.com/2218-6581/13/1/18/pdf?version=1705500683","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:d9f02453e9274e4088b603d1296140bf","is_oa":true,"landing_page_url":"https://doaj.org/article/d9f02453e9274e4088b603d1296140bf","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 13, Iss 1, p 18 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics13010018","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13010018","pdf_url":"https://www.mdpi.com/2218-6581/13/1/18/pdf?version=1705500683","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":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4390941970.pdf"},"referenced_works_count":42,"referenced_works":["https://openalex.org/W1497836844","https://openalex.org/W1537022493","https://openalex.org/W1969865247","https://openalex.org/W1990029145","https://openalex.org/W2057722565","https://openalex.org/W2069997402","https://openalex.org/W2082511574","https://openalex.org/W2115376920","https://openalex.org/W2140212799","https://openalex.org/W2159889795","https://openalex.org/W2595539145","https://openalex.org/W2762964486","https://openalex.org/W2794688259","https://openalex.org/W2805530149","https://openalex.org/W2859599500","https://openalex.org/W2962871243","https://openalex.org/W2981316255","https://openalex.org/W3003169307","https://openalex.org/W3003232400","https://openalex.org/W3007585463","https://openalex.org/W3013235505","https://openalex.org/W3039664495","https://openalex.org/W3048978000","https://openalex.org/W3119874910","https://openalex.org/W3126991459","https://openalex.org/W3134577988","https://openalex.org/W3164946289","https://openalex.org/W3172289722","https://openalex.org/W3199951390","https://openalex.org/W3205009373","https://openalex.org/W3206241064","https://openalex.org/W3213520345","https://openalex.org/W4221070022","https://openalex.org/W4282832765","https://openalex.org/W4309605387","https://openalex.org/W4312353067","https://openalex.org/W4312520464","https://openalex.org/W4312818411","https://openalex.org/W4360955117","https://openalex.org/W4386201312","https://openalex.org/W4389164282","https://openalex.org/W6848339443"],"related_works":["https://openalex.org/W3150915502","https://openalex.org/W8302103","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W3154539612"],"abstract_inverted_index":{"The":[0,78,137],"control":[1,33],"of":[2,66,131,144,155],"deformable":[3],"linear":[4],"objects":[5],"(DLOs)":[6],"such":[7],"as":[8],"cables":[9],"presents":[10],"a":[11,27,39,52,74,102,124,129,135,149],"significant":[12],"challenge":[13],"for":[14,30,48,152],"robotic":[15,36,153],"systems":[16],"due":[17],"to":[18,58,81,93],"their":[19],"unpredictable":[20],"behavior":[21],"during":[22],"manipulation.":[23],"This":[24],"paper":[25],"introduces":[26],"novel":[28],"approach":[29,112,120],"cable":[31,61,68,87,103],"shape":[32,92],"using":[34,115],"dual":[35],"arms":[37],"on":[38],"two\u2013dimensional":[40],"plane.":[41],"A":[42],"discrete":[43],"point":[44],"model":[45,105],"is":[46,56,106,113,121],"utilized":[47],"the":[49,64,67,70,83,86,90,110,119,140,145],"cable,":[50],"and":[51,89,97,142],"path":[53],"generation":[54],"algorithm":[55],"developed":[57,107],"define":[59],"intermediate":[60],"shapes,":[62],"facilitating":[63],"transformation":[65],"into":[69],"desired":[71],"profile":[72],"through":[73],"formulated":[75],"optimization":[76],"problem.":[77],"problem":[79],"aims":[80],"minimize":[82],"discrepancy":[84],"between":[85],"configuration":[88],"targeted":[91],"ensure":[94],"an":[95],"accurate":[96],"stable":[98],"deformation":[99],"process.":[100],"Moreover,":[101],"dynamic":[104],"in":[108,123,127],"which":[109,128],"manipulation":[111,154],"validated":[114],"this":[116],"model.":[117],"Additionally,":[118],"tested":[122],"simulation":[125],"environment":[126],"framework":[130],"two":[132],"manipulators":[133],"grasps":[134],"cable.":[136],"results":[138],"demonstrate":[139],"feasibility":[141],"accuracy":[143],"proposed":[146],"method,":[147],"offering":[148],"promising":[150],"direction":[151],"cables.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}
