{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,1]],"date-time":"2025-11-01T05:30:59Z","timestamp":1761975059635,"version":"build-2065373602"},"reference-count":18,"publisher":"Cambridge University Press (CUP)","issue":"7","license":[{"start":{"date-parts":[[2013,5,14]],"date-time":"2013-05-14T00:00:00Z","timestamp":1368489600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2013,10]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Discrete kinematic synthesis of discretely actuated hyper-redundant manipulators is a new practical problem in robotics. The problem concerns with determining the type of each manipulator module from among several specific types, so that the manipulator could reach several specified target frames with the lowest error. This paper suggests using a breadth-first search method and a workspace mean frame to solve this problem. To reduce errors, two heuristic ideas are proposed: two-by-two searching method and iteration. The effectiveness of the proposed method is verified through several numerical problems.<\/jats:p>","DOI":"10.1017\/s0263574713000337","type":"journal-article","created":{"date-parts":[[2013,5,22]],"date-time":"2013-05-22T09:04:49Z","timestamp":1369213489000},"page":"1073-1084","source":"Crossref","is-referenced-by-count":6,"title":["Discrete kinematic synthesis of discretely actuated hyper-redundant manipulators"],"prefix":"10.1017","volume":"31","author":[{"given":"Alireza","family":"Motahari","sequence":"first","affiliation":[]},{"given":"Hassan","family":"Zohoor","sequence":"additional","affiliation":[]},{"given":"M. Habibnejad","family":"Korayem","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2013,5,14]]},"reference":[{"doi-asserted-by":"publisher","key":"S0263574713000337_ref8","DOI":"10.1115\/1.2829438"},{"key":"S0263574713000337_ref7","first-page":"5889","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Miyahara","year":"2006"},{"key":"S0263574713000337_ref5","first-page":"1273","volume-title":"Proceedings of the IEEE\/ASME International Conferences Advanced Intelligent Mechatronics","author":"Sujan","year":"2001"},{"doi-asserted-by":"publisher","key":"S0263574713000337_ref9","DOI":"10.1017\/S0263574708005262"},{"key":"S0263574713000337_ref2","doi-asserted-by":"crossref","first-page":"3063","DOI":"10.1109\/ROBOT.1994.351099","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Chirikjian","year":"1994"},{"key":"S0263574713000337_ref10","doi-asserted-by":"crossref","first-page":"1707","DOI":"10.1007\/s12206-008-0615-2","article-title":"Sub-workspace design of binary manipulators using active and passive joints","volume":"22","author":"Hang","year":"2008","journal-title":"J. Mech. Sci. Technol."},{"doi-asserted-by":"publisher","key":"S0263574713000337_ref12","DOI":"10.1109\/ROBOT.1996.503586"},{"volume-title":"Ph.D. Dissertation","year":"1997","author":"Ebert-Uphoff","key":"S0263574713000337_ref3"},{"doi-asserted-by":"publisher","key":"S0263574713000337_ref6","DOI":"10.1115\/1.2826721"},{"doi-asserted-by":"publisher","key":"S0263574713000337_ref14","DOI":"10.1109\/TRA.2004.825473"},{"doi-asserted-by":"publisher","key":"S0263574713000337_ref11","DOI":"10.1002\/rob.4620120605"},{"key":"S0263574713000337_ref15","doi-asserted-by":"crossref","first-page":"33","DOI":"10.1109\/TRO.2005.858864","article-title":"Inverse kinematics of binary manipulators by using the continuous-variable-base optimization method","volume":"22","author":"Kim","year":"2006","journal-title":"IEEE Trans. Robot."},{"doi-asserted-by":"publisher","key":"S0263574713000337_ref16","DOI":"10.1016\/j.mechmachtheory.2008.03.001"},{"doi-asserted-by":"publisher","key":"S0263574713000337_ref13","DOI":"10.1163\/15685530152116245"},{"doi-asserted-by":"publisher","key":"S0263574713000337_ref17","DOI":"10.1115\/1.2826116"},{"volume-title":"Engineering Applications of Noncommutative Harmonic Analysis","year":"2000","author":"Kyatkin","key":"S0263574713000337_ref18"},{"key":"S0263574713000337_ref4","first-page":"151","article-title":"Design and implementation of a new discretely-actuated manipulator","volume":"271","author":"Suthakorn","year":"2001","journal-title":"Exp. Robot. VII, Springer Series: Lecture Notes in Control and Information Sciences"},{"volume-title":"Ph.D. Dissertation","year":"1968","author":"Pieper","key":"S0263574713000337_ref1"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574713000337","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,7,27]],"date-time":"2020-07-27T00:48:55Z","timestamp":1595810935000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574713000337\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,5,14]]},"references-count":18,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2013,10]]}},"alternative-id":["S0263574713000337"],"URL":"https:\/\/doi.org\/10.1017\/s0263574713000337","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2013,5,14]]}}}