乐胖代购免代理版

{"id":"https://openalex.org/W2800788658","doi":"https://doi.org/10.1109/iros.2018.8594320","title":"Dual-Arm Relative Tasks Performance Using Sparse Kinematic Control","display_name":"Dual-Arm Relative Tasks Performance Using Sparse Kinematic Control","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2800788658","doi":"https://doi.org/10.1109/iros.2018.8594320","mag":"2800788658"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594320","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"preprint","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-01735462/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012181440","display_name":"Sonny Tarbouriech","orcid":"https://orcid.org/0000-0002-7037-4193"},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I208215962","https://openalex.org/I4210101743","https://openalex.org/I4210159245"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Sonny Tarbouriech","raw_affiliation_strings":["LIRMM, CNRS, Montpellier, France"],"affiliations":[{"raw_affiliation_string":"LIRMM, CNRS, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059291133","display_name":"Benjamin Navarro","orcid":"https://orcid.org/0000-0001-6757-5376"},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I208215962","https://openalex.org/I4210101743","https://openalex.org/I4210159245"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Benjamin Navarro","raw_affiliation_strings":["LIRMM, CNRS, Montpellier, France"],"affiliations":[{"raw_affiliation_string":"LIRMM, CNRS, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070253135","display_name":"Philippe Fraisse","orcid":"https://orcid.org/0000-0003-0911-0743"},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I208215962","https://openalex.org/I4210101743","https://openalex.org/I4210159245"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Fraisse","raw_affiliation_strings":["LIRMM, CNRS, Montpellier, France"],"affiliations":[{"raw_affiliation_string":"LIRMM, CNRS, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043284120","display_name":"Andr\u00e9 Crosnier","orcid":"https://orcid.org/0000-0001-7632-0922"},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I208215962","https://openalex.org/I4210101743","https://openalex.org/I4210159245"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Andre Crosnier","raw_affiliation_strings":["LIRMM, CNRS, Montpellier, France"],"affiliations":[{"raw_affiliation_string":"LIRMM, CNRS, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022568011","display_name":"Andrea Cherubini","orcid":"https://orcid.org/0000-0002-7272-6922"},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I208215962","https://openalex.org/I4210101743","https://openalex.org/I4210159245"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Andrea Cherubini","raw_affiliation_strings":["LIRMM, CNRS, Montpellier, France"],"affiliations":[{"raw_affiliation_string":"LIRMM, CNRS, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044471383","display_name":"Damien Sall\u00e9","orcid":"https://orcid.org/0000-0002-5933-2419"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Damien Salle","raw_affiliation_strings":["Industry and Transport Division, Industry and Transport Division"],"affiliations":[{"raw_affiliation_string":"Industry and Transport Division, Industry and Transport Division","institution_ids":[]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"fulltext_origin":"pdf","cited_by_count":13,"citation_normalized_percentile":{"value":0.930784,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":87,"max":88},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Kinematic and Dynamic Analysis of Robot Manipulators","score":0.9995,"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/T10571","display_name":"Kinematic and Dynamic Analysis of Robot Manipulators","score":0.9995,"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":"Robotic Grasping and Learning from Demonstration","score":0.9991,"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":"Design and Control of Soft Robotic Systems","score":0.9967,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematic-analysis","display_name":"Kinematic Analysis","score":0.539031},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft Robotics","score":0.536133},{"id":"https://openalex.org/keywords/kinematic-modeling","display_name":"Kinematic Modeling","score":0.531117},{"id":"https://openalex.org/keywords/human-robot-collaboration","display_name":"Human-Robot Collaboration","score":0.508063},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.41937393}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8164008},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7145831},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6830876},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6353963},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.63405883},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5457151},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5108449},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46172255},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45424944},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.4373344},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.41937393},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.341991},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17120308},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16842428},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594320","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-01735462","pdf_url":"https://hal.science/hal-01735462/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":["Centre National de la Recherche Scientifique"],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://hal.science/hal-01735462v2/file/IROS18_0801_FI.pdf","pdf_url":"https://hal.science/hal-01735462v2/file/IROS18_0801_FI.pdf","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":["Centre National de la Recherche Scientifique"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://hal.science/hal-01735462v2/document","pdf_url":"https://hal.science/hal-01735462v2/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":["Centre National de la Recherche Scientifique"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-01735462/file/IROS18_0801_FI.pdf","pdf_url":"https://hal.archives-ouvertes.fr/hal-01735462/file/IROS18_0801_FI.pdf","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":["Centre National de la Recherche Scientifique"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-01735462/document","pdf_url":"https://hal.archives-ouvertes.fr/hal-01735462/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":["Centre National de la Recherche Scientifique"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-01735462v2/file/IROS18_0801_FI.pdf","pdf_url":"https://hal.archives-ouvertes.fr/hal-01735462v2/file/IROS18_0801_FI.pdf","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":["Centre National de la Recherche Scientifique"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-01735462","pdf_url":"https://hal.science/hal-01735462/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":["Centre National de la Recherche Scientifique"],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":32,"referenced_works":["https://openalex.org/W1774208138","https://openalex.org/W1984455387","https://openalex.org/W2004409499","https://openalex.org/W2062411213","https://openalex.org/W2062674159","https://openalex.org/W2076008977","https://openalex.org/W2082198299","https://openalex.org/W2085536277","https://openalex.org/W2103430937","https://openalex.org/W2108538808","https://openalex.org/W2110307800","https://openalex.org/W2113260111","https://openalex.org/W2132294818","https://openalex.org/W2147168033","https://openalex.org/W2154847670","https://openalex.org/W2156039572","https://openalex.org/W2157969180","https://openalex.org/W2167839759","https://openalex.org/W2199652152","https://openalex.org/W2296616510","https://openalex.org/W2323447981","https://openalex.org/W239163183","https://openalex.org/W2414912589","https://openalex.org/W2551219942","https://openalex.org/W2551644272","https://openalex.org/W2569229828","https://openalex.org/W2766050731","https://openalex.org/W2950702366","https://openalex.org/W4205362845","https://openalex.org/W4214585779","https://openalex.org/W4250955649","https://openalex.org/W597512902"],"related_works":["https://openalex.org/W4312096302","https://openalex.org/W3044940660","https://openalex.org/W2972304526","https://openalex.org/W2658949566","https://openalex.org/W2331850854","https://openalex.org/W2119963650","https://openalex.org/W2109003837","https://openalex.org/W2101598871","https://openalex.org/W2059363081","https://openalex.org/W2005471069"],"abstract_inverted_index":{"To":[0],"make":[1],"production":[2],"lines":[3],"more":[4],"flexible,":[5],"dual-arm":[6],"robots":[7],"are":[8],"good":[9],"candidates":[10],"to":[11,64],"be":[12],"deployed":[13],"in":[14],"autonomous":[15],"assembly":[16,70],"units.":[17],"In":[18],"this":[19,62],"paper,":[20],"we":[21],"propose":[22],"a":[23,36,48],"sparse":[24,50],"kinematic":[25],"control":[26,43],"strategy,":[27],"that":[28,57],"minimizes":[29],"the":[30,59],"number":[31],"of":[32,61],"joints":[33],"actuated":[34],"for":[35],"coordinated":[37],"task":[38],"between":[39],"two":[40],"arms.":[41],"The":[42],"strategy":[44],"is":[45],"based":[46],"on":[47],"hierarchical":[49],"QP":[51],"architecture.":[52],"We":[53],"present":[54],"experimental":[55],"results":[56],"highlight":[58],"capability":[60],"architecture":[63],"produce":[65],"sparser":[66],"motions":[67],"(for":[68],"an":[69],"task)":[71],"than":[72],"those":[73],"obtained":[74],"with":[75],"standard":[76],"controllers.":[77]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2800788658","counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3}],"updated_date":"2024-12-04T03:32:07.585113","created_date":"2018-05-17"}