{"id":"https://openalex.org/W7140192800","doi":"https://doi.org/10.48550/arxiv.2603.22055","title":"MineRobot: An Actuator-Centered Kinematic Modeling and Solving Framework for Underground Mining Robots","display_name":"MineRobot: An Actuator-Centered Kinematic Modeling and Solving Framework for Underground Mining Robots","publication_year":2026,"publication_date":"2026-03-23","ids":{"openalex":"https://openalex.org/W7140192800","doi":"https://doi.org/10.48550/arxiv.2603.22055"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.22055","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.22055","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.22055","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Hou, Shengzhe","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hou, Shengzhe","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Lu, Xinming","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Xinming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Zhang, Tianyu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Tianyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Yan, Changqing","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yan, Changqing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Zhang, Xingli","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Xingli","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.22460000216960907,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.22460000216960907,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.10779999941587448,"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":0.065700002014637,"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/kinematics","display_name":"Kinematics","score":0.776199996471405},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.7057999968528748},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6765999794006348},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5231999754905701},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4860999882221222},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.3910999894142151},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.3806000053882599},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.3749000132083893}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.776199996471405},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7057999968528748},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6765999794006348},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5231999754905701},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5159000158309937},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4860999882221222},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.3910999894142151},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3817000091075897},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.3806000053882599},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.3749000132083893},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3522000014781952},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.34880000352859497},{"id":"https://openalex.org/C2780486870","wikidata":"https://www.wikidata.org/wiki/Q105965361","display_name":"Underground mining (soft rock)","level":4,"score":0.3203999996185303},{"id":"https://openalex.org/C177212765","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Workflow","level":2,"score":0.31859999895095825},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31700000166893005},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.3156999945640564},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3041999936103821},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.30300000309944153},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.272599995136261},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.25870001316070557},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2581999897956848},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.25369998812675476}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.22055","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.22055","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.22055","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.22055","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Underground":[0],"mining":[1,31,181],"robots":[2,182],"are":[3,33,122],"increasingly":[4],"modeled":[5],"for":[6,57,86,102,206],"planning,":[7,207],"operator":[8],"training,":[9,208],"and":[10,46,59,88,100,161,187,209],"digital-twin":[11,210],"workflows,":[12],"where":[13],"reliable":[14],"actuator-level":[15],"kinematics":[16,62,82,132,151],"is":[17,134],"needed":[18],"to":[19],"reduce":[20],"hazardous":[21],"in":[22],"situ":[23],"trials.":[24],"Unlike":[25],"typical":[26],"open-chain":[27],"industrial":[28],"manipulators,":[29],"representative":[30,65,179],"machines":[32],"often":[34],"linear-actuator-driven":[35],"closed-chain":[36,150],"mechanisms":[37],"with":[38,83],"planar":[39,94],"four-bar":[40,95],"linkages,":[41],"making":[42],"reusable":[43],"kinematic":[44,204],"modeling":[45,58],"real-time":[47,184],"FK/IK":[48,165],"solving":[49,60],"challenging.":[50],"We":[51],"present":[52],"\\textit{\\hl{MineRobot}},":[53],"an":[54,105,202],"actuator-centered":[55,203],"framework":[56],"the":[61,70,192,197],"of":[63,199],"this":[64,118],"mechanism":[66],"class.":[67],"MineRobot":[68,156,200],"introduces":[69],"Mining":[71],"Robot":[72],"Description":[73],"Format":[74],"(MRDF),":[75],"a":[76,125,137,143,172],"domain-specific":[77],"representation":[78],"that":[79],"parameterizes":[80],"mining-robot":[81],"native":[84],"semantics":[85],"actuators":[87],"loop":[89],"closures.":[90],"It":[91],"then":[92],"contracts":[93],"substructures":[96],"into":[97,112,124,152],"generalized":[98],"joints":[99],"extracts,":[101],"each":[103,169],"actuator,":[104],"Independent":[106],"Topologically":[107],"Equivalent":[108],"Path":[109],"(ITEP)":[110],"classified":[111],"four":[113],"canonical":[114],"types.":[115],"Based":[116],"on":[117,178],"decomposition,":[119],"per-type":[120],"solvers":[121],"composed":[123],"sequential":[126],"forward-kinematics":[127],"(FK)":[128],"pipeline,":[129],"while":[130],"inverse":[131],"(IK)":[133],"formulated":[135],"as":[136,171,201],"bound-constrained":[138],"actuator-length":[139],"optimization":[140],"solved":[141],"by":[142],"Gauss--Seidel-style":[144],"update":[145],"scheme.":[146],"By":[147],"converting":[148],"coupled":[149,174],"small":[153],"topology-aware":[154],"solves,":[155],"reduces":[157],"robot-specific":[158],"hand":[159],"derivations":[160],"supports":[162],"efficient":[163],"repeated":[164],"computation":[166],"without":[167],"treating":[168],"query":[170],"full":[173],"constraint-solving":[175],"problem.":[176],"Experiments":[177],"underground":[180],"demonstrate":[183],"FK":[185],"performance":[186],"robust":[188],"IK":[189],"convergence":[190],"within":[191],"tested":[193],"operating":[194],"ranges,":[195],"supporting":[196],"use":[198],"layer":[205],"workflows.":[211]},"counts_by_year":[],"updated_date":"2026-07-03T06:15:21.484131","created_date":"2026-03-25T00:00:00"}