{"id":"https://openalex.org/W4388864738","doi":"https://doi.org/10.1108/ir-06-2023-0128","title":"Pose optimization for mobile manipulator grasping based on hybrid manipulability","display_name":"Pose optimization for mobile manipulator grasping based on hybrid manipulability","publication_year":2023,"publication_date":"2023-11-21","ids":{"openalex":"https://openalex.org/W4388864738","doi":"https://doi.org/10.1108/ir-06-2023-0128"},"language":"en","primary_location":{"id":"doi:10.1108/ir-06-2023-0128","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-06-2023-0128","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101508984","display_name":"Yangmin Xie","orcid":"https://orcid.org/0000-0002-6517-2917"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yangmin Xie","raw_affiliation_strings":["Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108050448","display_name":"Jiajia Liu","orcid":"https://orcid.org/0000-0003-4273-8866"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiajia Liu","raw_affiliation_strings":["Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059579886","display_name":"Yusheng Yang","orcid":"https://orcid.org/0000-0001-6762-4158"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yusheng Yang","raw_affiliation_strings":["Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I113940042"],"apc_list":null,"apc_paid":null,"fwci":0.4601,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.5807373,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"51","issue":"1","first_page":"134","last_page":"147"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"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/mobile-manipulator","display_name":"Mobile manipulator","score":0.7133975028991699},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.6104475259780884},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6091175675392151},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5695510506629944},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5521584153175354},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5190451741218567},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5149034261703491},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5028209090232849},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.49759796261787415},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43745946884155273},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.42484933137893677},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40271851420402527},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36998796463012695},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28970539569854736},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24773088097572327},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19201058149337769},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08437150716781616},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.07945141196250916},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.07282686233520508}],"concepts":[{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.7133975028991699},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.6104475259780884},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6091175675392151},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5695510506629944},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5521584153175354},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5190451741218567},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5149034261703491},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5028209090232849},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.49759796261787415},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43745946884155273},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.42484933137893677},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40271851420402527},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36998796463012695},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28970539569854736},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24773088097572327},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19201058149337769},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08437150716781616},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.07945141196250916},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.07282686233520508},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-06-2023-0128","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-06-2023-0128","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7799999713897705,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W2025673320","https://openalex.org/W2028593985","https://openalex.org/W2030929340","https://openalex.org/W2037729465","https://openalex.org/W2045769504","https://openalex.org/W2046481736","https://openalex.org/W2049410986","https://openalex.org/W2108547961","https://openalex.org/W2119403459","https://openalex.org/W2122287758","https://openalex.org/W2306074073","https://openalex.org/W2773182285","https://openalex.org/W2899575514","https://openalex.org/W2947311533","https://openalex.org/W2978071944","https://openalex.org/W2985480183","https://openalex.org/W3006544225","https://openalex.org/W3019555951","https://openalex.org/W3126243090","https://openalex.org/W3137303152","https://openalex.org/W3164107119","https://openalex.org/W3197115974","https://openalex.org/W4205917761","https://openalex.org/W4210613326","https://openalex.org/W4283323755","https://openalex.org/W4283809684","https://openalex.org/W4285273130","https://openalex.org/W4285505194","https://openalex.org/W4293473682","https://openalex.org/W4312124032"],"related_works":["https://openalex.org/W2147391265","https://openalex.org/W2930076404","https://openalex.org/W2917514722","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W1971413691","https://openalex.org/W3043170174"],"abstract_inverted_index":{"Purpose":[0],"Proper":[1],"platform":[2,87],"pose":[3,31,88,94,190],"is":[4,26,61,89,115,128],"important":[5],"for":[6],"the":[7,19,30,44,65,68,85,93,97,100,107,118,122,125,132,148,158,162,167,170,175,189,193],"mobile":[8,113],"manipulator":[9,114,179],"to":[10,22,28,37,42,63],"accomplish":[11],"dexterous":[12],"manipulation":[13,24,171],"tasks":[14,136],"efficiently":[15],"and":[16,18,80,121,140,169],"safely,":[17],"evaluation":[20],"criterion":[21,56],"qualify":[23],"performance":[25,47,66],"critical":[27],"support":[29],"decision":[32],"process.":[33],"This":[34],"paper":[35],"aims":[36],"present":[38],"a":[39,55],"comprehensive":[40],"index":[41],"evaluate":[43],"manipulator\u2019s":[45,69,159],"operation":[46,168],"from":[48],"various":[49],"aspects.":[50],"Design/methodology/approach":[51],"In":[52],"this":[53],"research,":[54],"called":[57],"hybrid":[58],"manipulability":[59,152],"(HM)":[60],"proposed":[62,126,144],"assess":[64],"of":[67,84,124,134,151],"operation,":[70],"considering":[71],"crucial":[72],"factors":[73],"such":[74],"as":[75,117],"joint":[76,160],"limits,":[77,161],"obstacle":[78,163],"avoidance":[79,164],"stability.":[81],"The":[82,143,178],"determination":[83],"optimal":[86],"achieved":[90],"by":[91,153,192],"selecting":[92],"that":[95],"maximizes":[96],"HM":[98,145],"within":[99],"feasible":[101],"inverse":[102],"reachability":[103],"map":[104],"associated":[105],"with":[106],"target":[108,176],"object.":[109,177],"Findings":[110],"A":[111],"self-built":[112],"adopted":[116],"experimental":[119],"platform,":[120],"feasibility":[123],"method":[127],"experimentally":[129],"verified":[130],"in":[131,138,188],"context":[133],"object-grasping":[135],"both":[137],"simulation":[139],"practice.":[141],"Originality/value":[142],"extends":[146],"upon":[147],"conventional":[149],"notion":[150],"incorporating":[154],"additional":[155],"factors,":[156],"including":[157],"situation":[165],"during":[166,184],"stability":[172,183],"when":[173,186],"grasping":[174,185],"can":[180],"achieve":[181],"enhanced":[182],"positioned":[187],"determined":[191],"HM.":[194]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-30T17:31:21.811387","created_date":"2025-10-10T00:00:00"}
