{"id":"https://openalex.org/W2028874916","doi":"https://doi.org/10.1109/aim.2013.6584106","title":"Hardware and software architecture of the bimanual mobile manipulation robot HoLLiE and its actuated upper body","display_name":"Hardware and software architecture of the bimanual mobile manipulation robot HoLLiE and its actuated upper body","publication_year":2013,"publication_date":"2013-07-01","ids":{"openalex":"https://openalex.org/W2028874916","doi":"https://doi.org/10.1109/aim.2013.6584106","mag":"2028874916"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2013.6584106","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2013.6584106","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics","raw_type":"proceedings-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/A5082682604","display_name":"A. M. Hermann","orcid":"https://orcid.org/0000-0003-2776-3940"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]},{"id":"https://openalex.org/I29955533","display_name":"Center for Information Technology","ror":"https://ror.org/03jh5a977","country_code":"US","type":"facility","lineage":["https://openalex.org/I1299022934","https://openalex.org/I1299303238","https://openalex.org/I29955533"]}],"countries":["DE","US"],"is_corresponding":true,"raw_author_name":"A. Hermann","raw_affiliation_strings":["Department of Intelligent Systems and Production Engineering (ISPE-IDS), Research Center for Information Technology, Karlsruhe, Germany","Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Intelligent Systems and Production Engineering (ISPE-IDS), Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany","institution_ids":["https://openalex.org/I29955533"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101431238","display_name":"Jianhua Sun","orcid":"https://orcid.org/0009-0008-6101-8331"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]},{"id":"https://openalex.org/I29955533","display_name":"Center for Information Technology","ror":"https://ror.org/03jh5a977","country_code":"US","type":"facility","lineage":["https://openalex.org/I1299022934","https://openalex.org/I1299303238","https://openalex.org/I29955533"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"J. Sun","raw_affiliation_strings":["Department of Intelligent Systems and Production Engineering (ISPE-IDS), Research Center for Information Technology, Karlsruhe, Germany","Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Intelligent Systems and Production Engineering (ISPE-IDS), Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany","institution_ids":["https://openalex.org/I29955533"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039559049","display_name":"ZhiRong Xue","orcid":"https://orcid.org/0009-0007-9001-3807"},"institutions":[{"id":"https://openalex.org/I29955533","display_name":"Center for Information Technology","ror":"https://ror.org/03jh5a977","country_code":"US","type":"facility","lineage":["https://openalex.org/I1299022934","https://openalex.org/I1299303238","https://openalex.org/I29955533"]},{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Z. Xue","raw_affiliation_strings":["Department of Intelligent Systems and Production Engineering (ISPE-IDS), Research Center for Information Technology, Karlsruhe, Germany","Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Intelligent Systems and Production Engineering (ISPE-IDS), Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany","institution_ids":["https://openalex.org/I29955533"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068205430","display_name":"Steffen W. Ruehl","orcid":null},"institutions":[{"id":"https://openalex.org/I29955533","display_name":"Center for Information Technology","ror":"https://ror.org/03jh5a977","country_code":"US","type":"facility","lineage":["https://openalex.org/I1299022934","https://openalex.org/I1299303238","https://openalex.org/I29955533"]},{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"S. W. Ruehl","raw_affiliation_strings":["Department of Intelligent Systems and Production Engineering (ISPE-IDS), Research Center for Information Technology, Karlsruhe, Germany","Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Intelligent Systems and Production Engineering (ISPE-IDS), Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany","institution_ids":["https://openalex.org/I29955533"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001112343","display_name":"Jan Oberlaender","orcid":null},"institutions":[{"id":"https://openalex.org/I29955533","display_name":"Center for Information Technology","ror":"https://ror.org/03jh5a977","country_code":"US","type":"facility","lineage":["https://openalex.org/I1299022934","https://openalex.org/I1299303238","https://openalex.org/I29955533"]},{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"J. Oberlaender","raw_affiliation_strings":["Department of Intelligent Systems and Production Engineering (ISPE-IDS), Research Center for Information Technology, Karlsruhe, Germany","Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Intelligent Systems and Production Engineering (ISPE-IDS), Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany","institution_ids":["https://openalex.org/I29955533"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072884786","display_name":"Arne Roennau","orcid":"https://orcid.org/0000-0002-6090-607X"},"institutions":[{"id":"https://openalex.org/I29955533","display_name":"Center for Information Technology","ror":"https://ror.org/03jh5a977","country_code":"US","type":"facility","lineage":["https://openalex.org/I1299022934","https://openalex.org/I1299303238","https://openalex.org/I29955533"]},{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"A. Roennau","raw_affiliation_strings":["Department of Intelligent Systems and Production Engineering (ISPE-IDS), Research Center for Information Technology, Karlsruhe, Germany","Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Intelligent Systems and Production Engineering (ISPE-IDS), Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany","institution_ids":["https://openalex.org/I29955533"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072057705","display_name":"J. Marius Zoellner","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]},{"id":"https://openalex.org/I29955533","display_name":"Center for Information Technology","ror":"https://ror.org/03jh5a977","country_code":"US","type":"facility","lineage":["https://openalex.org/I1299022934","https://openalex.org/I1299303238","https://openalex.org/I29955533"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"J. M. Zoellner","raw_affiliation_strings":["Department of Intelligent Systems and Production Engineering (ISPE-IDS), Research Center for Information Technology, Karlsruhe, Germany","Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Intelligent Systems and Production Engineering (ISPE-IDS), Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany","institution_ids":["https://openalex.org/I29955533"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004964717","display_name":"Ruediger Dillmann","orcid":"https://orcid.org/0000-0002-2049-8219"},"institutions":[{"id":"https://openalex.org/I29955533","display_name":"Center for Information Technology","ror":"https://ror.org/03jh5a977","country_code":"US","type":"facility","lineage":["https://openalex.org/I1299022934","https://openalex.org/I1299303238","https://openalex.org/I29955533"]},{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"R. Dillmann","raw_affiliation_strings":["Department of Intelligent Systems and Production Engineering (ISPE-IDS), Research Center for Information Technology, Karlsruhe, Germany","Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Intelligent Systems and Production Engineering (ISPE-IDS), Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany","institution_ids":["https://openalex.org/I29955533"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5082682604"],"corresponding_institution_ids":["https://openalex.org/I143379178","https://openalex.org/I29955533"],"apc_list":null,"apc_paid":null,"fwci":2.92994875,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.91334856,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"286","last_page":"292"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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":0.9991999864578247,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9973999857902527,"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":0.9962000250816345,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7432743310928345},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7065610885620117},{"id":"https://openalex.org/keywords/usability","display_name":"Usability","score":0.5957594513893127},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5474451780319214},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5439881682395935},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5324403047561646},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.5282506346702576},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49396640062332153},{"id":"https://openalex.org/keywords/service-robot","display_name":"Service robot","score":0.4849586486816406},{"id":"https://openalex.org/keywords/extensibility","display_name":"Extensibility","score":0.46058836579322815},{"id":"https://openalex.org/keywords/service","display_name":"Service (business)","score":0.4461379051208496},{"id":"https://openalex.org/keywords/software-architecture","display_name":"Software architecture","score":0.4190414249897003},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.37467607855796814},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2726016640663147},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.07043296098709106}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7432743310928345},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7065610885620117},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.5957594513893127},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5474451780319214},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5439881682395935},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5324403047561646},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.5282506346702576},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49396640062332153},{"id":"https://openalex.org/C2776228582","wikidata":"https://www.wikidata.org/wiki/Q7455797","display_name":"Service robot","level":3,"score":0.4849586486816406},{"id":"https://openalex.org/C32833848","wikidata":"https://www.wikidata.org/wiki/Q4115054","display_name":"Extensibility","level":2,"score":0.46058836579322815},{"id":"https://openalex.org/C2780378061","wikidata":"https://www.wikidata.org/wiki/Q25351891","display_name":"Service (business)","level":2,"score":0.4461379051208496},{"id":"https://openalex.org/C35869016","wikidata":"https://www.wikidata.org/wiki/Q846636","display_name":"Software architecture","level":3,"score":0.4190414249897003},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.37467607855796814},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2726016640663147},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.07043296098709106},{"id":"https://openalex.org/C136264566","wikidata":"https://www.wikidata.org/wiki/Q159810","display_name":"Economy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2013.6584106","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2013.6584106","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.4399999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W32317177","https://openalex.org/W46565623","https://openalex.org/W178864944","https://openalex.org/W1968554754","https://openalex.org/W2019267533","https://openalex.org/W2105763741","https://openalex.org/W2107758079","https://openalex.org/W2141168215","https://openalex.org/W2141711441","https://openalex.org/W2165745738","https://openalex.org/W2174829817","https://openalex.org/W6685601097"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W1999333556","https://openalex.org/W2073535592"],"abstract_inverted_index":{"We":[0,84],"present":[1],"our":[2,89],"recent":[3],"work":[4],"on":[5,43],"the":[6,12,86,93,102],"soft-":[7],"and":[8,50,59,75,95,98],"hardware":[9],"design":[10],"of":[11,46,56,88],"bimanual":[13],"mobile":[14],"manipulation":[15],"platform":[16],"HoLLiE":[17,64],"that":[18],"is":[19],"equipped":[20],"with":[21,36,70],"an":[22],"actuated":[23],"upper":[24],"body.":[25],"The":[26],"goal":[27],"was":[28],"to":[29],"develop":[30],"a":[31,37,44,54,60],"robust":[32],"but":[33],"extensible":[34],"robot":[35],"non-intimidating":[38],"abstract":[39],"anthropomatic":[40],"appearance":[41],"based":[42],"combination":[45],"industrial":[47],"robotic":[48,82],"components":[49],"intelligent":[51],"mechatronics.":[52],"With":[53],"range":[55],"different":[57],"sensors":[58],"highly":[61],"articulated":[62],"body":[63],"can":[65],"handle":[66],"everyday":[67],"objects,":[68],"interact":[69],"humans":[71],"in":[72,79],"multiple":[73],"ways":[74],"therefore":[76],"be":[77],"employed":[78],"various":[80],"service":[81],"scenarios.":[83],"demonstrate":[85],"usability":[87],"concept":[90],"by":[91],"quantifying":[92],"workspace":[94],"its":[96],"stability":[97],"also":[99],"briefly":[100],"describe":[101],"software":[103],"components.":[104]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
