{"id":"https://openalex.org/W7148969097","doi":"https://doi.org/10.48550/arxiv.2604.01517","title":"MorphoGuard: A Morphology-Based Whole-Body Interactive Motion Controller","display_name":"MorphoGuard: A Morphology-Based Whole-Body Interactive Motion Controller","publication_year":2026,"publication_date":"2026-04-02","ids":{"openalex":"https://openalex.org/W7148969097","doi":"https://doi.org/10.48550/arxiv.2604.01517"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.01517","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.01517","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.2604.01517","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056185570","display_name":"Chenjin Wang","orcid":"https://orcid.org/0000-0002-4045-5144"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Chenjin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132869918","display_name":"Zheng Yan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yan, Zheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132914880","display_name":"Yanmin Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Yanmin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132845358","display_name":"Runjie Shen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shen, Runjie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5132841914","display_name":"Bin He","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"He, Bin","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/T10653","display_name":"Robot Manipulation and Learning","score":0.7199000120162964,"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":0.7199000120162964,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.06360000371932983,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10982","display_name":"Motor Control and Adaptation","score":0.050599999725818634,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6388000249862671},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6266000270843506},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5892000198364258},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5435000061988831},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5182999968528748},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.44850000739097595},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4399999976158142},{"id":"https://openalex.org/keywords/motion-controller","display_name":"Motion controller","score":0.4332999885082245},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4171999990940094}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6843000054359436},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6388000249862671},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6266000270843506},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5892000198364258},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5435000061988831},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5182999968528748},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.44850000739097595},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44839999079704285},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4399999976158142},{"id":"https://openalex.org/C2778420160","wikidata":"https://www.wikidata.org/wiki/Q6917780","display_name":"Motion controller","level":4,"score":0.4332999885082245},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4171999990940094},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4009000062942505},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3418999910354614},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.31929999589920044},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.31290000677108765},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.31290000677108765},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3077000081539154},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2955000102519989},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2946000099182129},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2662999927997589},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.26260000467300415},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2623000144958496},{"id":"https://openalex.org/C86297840","wikidata":"https://www.wikidata.org/wiki/Q6045397","display_name":"Interactive design","level":2,"score":0.2615000009536743},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.26030001044273376},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.2590000033378601},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.2558000087738037}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.01517","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.01517","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.2604.01517","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.01517","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Whole-body":[0],"control":[1,63,123],"(WBC)":[2],"has":[3],"demonstrated":[4],"significant":[5],"advantages":[6],"in":[7,46,166],"complex":[8,49],"interactive":[9,77,168],"movements":[10],"of":[11,48,98,109,159],"high-dimensional":[12],"robotic":[13],"systems.":[14],"However,":[15],"when":[16],"a":[17,27,34,61,81,89,127,154],"robot":[18],"is":[19,86],"required":[20],"to":[21,72,104,137,143],"handle":[22],"dynamic":[23],"multi-contact":[24],"combinations":[25],"along":[26],"single":[28],"kinematic":[29],"chain-such":[30],"as":[31,131],"pushing":[32],"open":[33],"door":[35],"with":[36,75],"its":[37,164],"elbow":[38],"while":[39],"grasping":[40],"an":[41],"object-it":[42],"faces":[43],"major":[44],"obstacles":[45],"terms":[47],"contact":[50,69,155],"representation":[51],"and":[52,93,114],"joint":[53],"configuration":[54],"coupling.":[55],"To":[56,120],"address":[57],"this,":[58],"we":[59,125],"propose":[60],"new":[62],"approach":[64],"that":[65,149],"explicitly":[66],"manages":[67],"arbitrary":[68],"combinations,":[70],"aiming":[71],"endow":[73],"robots":[74],"whole-body":[76,167],"capabilities.":[78],"We":[79],"develop":[80],"morphology-constrained":[82],"WBC":[83],"network":[84,118],"(MorphoGuard)-which":[85],"trained":[87],"on":[88,117],"self-constructed":[90],"dual-arm":[91],"physical":[92],"simulation":[94],"platform.":[95],"A":[96],"series":[97],"model":[99,115,136],"recommendation":[100],"experiments":[101],"are":[102],"designed":[103],"systematically":[105],"investigate":[106],"the":[107,122,132,135,150],"impact":[108],"backbone":[110],"architecture,":[111],"fusion":[112],"strategy,":[113],"scale":[116],"performance.":[119],"evaluate":[121],"performance,":[124],"adopt":[126],"multi-object":[128],"interaction":[129],"task":[130],"benchmark,":[133],"requiring":[134],"simultaneously":[138],"manipulate":[139],"multiple":[140],"target":[141],"objects":[142],"specified":[144],"positions.":[145],"Experimental":[146],"results":[147],"show":[148],"proposed":[151],"method":[152],"achieves":[153],"point":[156],"management":[157],"error":[158],"approximately":[160],"1":[161],"cm,":[162],"demonstrating":[163],"effectiveness":[165],"control.":[169]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-04-04T00:00:00"}