{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,20]],"date-time":"2026-03-20T15:31:53Z","timestamp":1774020713781,"version":"3.50.1"},"reference-count":43,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"10","license":[{"start":{"date-parts":[[2023,10,1]],"date-time":"2023-10-01T00:00:00Z","timestamp":1696118400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2023,10,1]],"date-time":"2023-10-01T00:00:00Z","timestamp":1696118400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2023,10,1]],"date-time":"2023-10-01T00:00:00Z","timestamp":1696118400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100001809","name":"Major Research Plan of National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["91848202"],"award-info":[{"award-number":["91848202"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"Distinguished Young Scholars of the National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52105014"],"award-info":[{"award-number":["52105014"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002858","name":"China Postdoctoral Science Foundation","doi-asserted-by":"publisher","award":["2022M710955"],"award-info":[{"award-number":["2022M710955"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002858","name":"Special Foundation (Pre-Station) of China Postdoctoral Science","doi-asserted-by":"publisher","award":["2021TQ0089"],"award-info":[{"award-number":["2021TQ0089"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100010009","name":"Postdoctoral Science Foundation of Heilongjiang Province, China","doi-asserted-by":"publisher","award":["LBH-Z21001"],"award-info":[{"award-number":["LBH-Z21001"]}],"id":[{"id":"10.13039\/501100010009","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003472","name":"Self-Planned Task of State Key Laboratory of Robotics and System of Harbin Institute of Technology","doi-asserted-by":"publisher","award":["SKLRS202013B"],"award-info":[{"award-number":["SKLRS202013B"]}],"id":[{"id":"10.13039\/501100003472","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003472","name":"Self-Planned Task of State Key Laboratory of Robotics and System of Harbin Institute of Technology","doi-asserted-by":"publisher","award":["SKLRS202106B"],"award-info":[{"award-number":["SKLRS202106B"]}],"id":[{"id":"10.13039\/501100003472","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Syst. Man Cybern, Syst."],"published-print":{"date-parts":[[2023,10]]},"DOI":"10.1109\/tsmc.2023.3283266","type":"journal-article","created":{"date-parts":[[2023,6,30]],"date-time":"2023-06-30T17:27:21Z","timestamp":1688146041000},"page":"6460-6474","source":"Crossref","is-referenced-by-count":43,"title":["Actual Shape-Based Obstacle Avoidance Synthesized by Velocity\u2013Acceleration Minimization for Redundant Manipulators: An Optimization Perspective"],"prefix":"10.1109","volume":"53","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9628-9886","authenticated-orcid":false,"given":"Boyu","family":"Ma","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4450-8730","authenticated-orcid":false,"given":"Zongwu","family":"Xie","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5158-7479","authenticated-orcid":false,"given":"Bowen","family":"Zhan","sequence":"additional","affiliation":[{"name":"Beijing Institute of Control Engineering, China Academy of Space Technology, Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5640-7190","authenticated-orcid":false,"given":"Zainan","family":"Jiang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0773-0706","authenticated-orcid":false,"given":"Yang","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3629-2626","authenticated-orcid":false,"given":"Hong","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICARCV.2002.1238536"},{"key":"ref35","doi-asserted-by":"crossref","first-page":"531","DOI":"10.1109\/70.954768","article-title":"Fast versions of the Gilbert–Johnson–Keerthi distance algorithm: Additional results and comparisons","volume":"17","author":"ong","year":"2001","journal-title":"IEEE Trans Robot Autom"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2015.2464176"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/56.2083"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-013-9816-8"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511804441"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TNN.2003.810607"},{"key":"ref36","author":"zhang","year":"2015","journal-title":"Zeroing Dynamics Gradient Dynamics and Newton Iterations"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCC.2012.2183868"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2003.811519"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2019.2920778"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2016.0220"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2019.2941916"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2014.2331036"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.paerosci.2014.03.002"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202200397"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-019-05071-w"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1287\/opre.42.6.1120"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2020.2966859"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/TNN.2003.809409"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-015-0455-7"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.paerosci.2018.07.001"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/RoMoCo.2015.7219719"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1166\/sl.2011.1665"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1177\/027836402320556377"},{"key":"ref25","first-page":"147","article-title":"Obstacle avoidance control of redundant robots using variants of particle swarm optimization","volume":"28","author":"chyan","year":"2012","journal-title":"Robot Comput -Integr Manuf"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2990555"},{"key":"ref42","author":"craig","year":"2005","journal-title":"Introduction to Robotics Mechanics and Control"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/ICMA54519.2022.9856247"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1016\/j.asr.2020.05.045"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500106"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1016\/j.actaastro.2010.12.004"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2016.2574363"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2022.3218788"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2021.3129794"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2021.3122577"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21937"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2020.2980424"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2022.102396"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2022.3174845"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2019.2916932"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.jmatprotec.2023.117857"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1007\/s11465-021-0630-x"}],"container-title":["IEEE Transactions on Systems, Man, and Cybernetics: Systems"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/6221021\/10252086\/10168825.pdf?arnumber=10168825","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,2]],"date-time":"2023-10-02T18:02:34Z","timestamp":1696269754000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10168825\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,10]]},"references-count":43,"journal-issue":{"issue":"10"},"URL":"https:\/\/doi.org\/10.1109\/tsmc.2023.3283266","relation":{},"ISSN":["2168-2216","2168-2232"],"issn-type":[{"value":"2168-2216","type":"print"},{"value":"2168-2232","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,10]]}}}