{"id":"https://openalex.org/W4375854227","doi":"https://doi.org/10.1109/cbs55922.2023.10115406","title":"Rail-Guided Multi-Robot System for the Cooperative Manipulation of Cross-Scale Targets","display_name":"Rail-Guided Multi-Robot System for the Cooperative Manipulation of Cross-Scale Targets","publication_year":2023,"publication_date":"2023-03-24","ids":{"openalex":"https://openalex.org/W4375854227","doi":"https://doi.org/10.1109/cbs55922.2023.10115406"},"language":"en","primary_location":{"id":"doi:10.1109/cbs55922.2023.10115406","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cbs55922.2023.10115406","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Cyborg and Bionic Systems (CBS)","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/A5045682937","display_name":"Han Tao","orcid":"https://orcid.org/0009-0005-8013-5769"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Tao","raw_affiliation_strings":["Intelligent Robotics Institute, School of Mechatronical Engineering Beijing Institute of Technology,China","Intelligent Robotics Institute, School of Mechatronical Engineering Beijing Institute of Technology, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, School of Mechatronical Engineering Beijing Institute of Technology,China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Intelligent Robotics Institute, School of Mechatronical Engineering Beijing Institute of Technology, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101471798","display_name":"Huaping Wang","orcid":"https://orcid.org/0000-0001-8440-3402"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaping Wang","raw_affiliation_strings":["Intelligent Robotics Institute, School of Mechatronical Engineering Beijing Institute of Technology,China","Intelligent Robotics Institute, School of Mechatronical Engineering Beijing Institute of Technology, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, School of Mechatronical Engineering Beijing Institute of Technology,China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Intelligent Robotics Institute, School of Mechatronical Engineering Beijing Institute of Technology, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047049202","display_name":"Yaozhen Hou","orcid":"https://orcid.org/0000-0002-9539-4713"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaozhen Hou","raw_affiliation_strings":["Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology),Ministry of Education,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology),Ministry of Education,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003232164","display_name":"Siyu Guo","orcid":"https://orcid.org/0000-0002-5249-2057"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siyu Guo","raw_affiliation_strings":["Intelligent Robotics Institute, School of Mechatronical Engineering Beijing Institute of Technology,China","Intelligent Robotics Institute, School of Mechatronical Engineering Beijing Institute of Technology, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, School of Mechatronical Engineering Beijing Institute of Technology,China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Intelligent Robotics Institute, School of Mechatronical Engineering Beijing Institute of Technology, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111810048","display_name":"Kaijun Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaijun Lin","raw_affiliation_strings":["Intelligent Robotics Institute, School of Mechatronical Engineering Beijing Institute of Technology,China","Intelligent Robotics Institute, School of Mechatronical Engineering Beijing Institute of Technology, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, School of Mechatronical Engineering Beijing Institute of Technology,China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Intelligent Robotics Institute, School of Mechatronical Engineering Beijing Institute of Technology, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014749523","display_name":"Maolin Wang","orcid":"https://orcid.org/0000-0001-7449-9834"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Maolin Wang","raw_affiliation_strings":["Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology),Ministry of Education,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology),Ministry of Education,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100617912","display_name":"Qiang Huang","orcid":"https://orcid.org/0000-0001-5269-4161"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Huang","raw_affiliation_strings":["Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology),Ministry of Education,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology),Ministry of Education,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065569192","display_name":"Toshio Fukuda","orcid":"https://orcid.org/0000-0002-3885-7152"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Toshio Fukuda","raw_affiliation_strings":["Beijing Institute of Technology,Beijing Advanced Innovation Center for Intelligent Robots and Systems,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,Beijing Advanced Innovation Center for Intelligent Robots and Systems,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1025,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.37453115,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"128","last_page":"133"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11190","display_name":"3D Printing in Biomedical Research","score":0.9988999962806702,"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"}},"topics":[{"id":"https://openalex.org/T11190","display_name":"3D Printing in Biomedical Research","score":0.9988999962806702,"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"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10379","display_name":"Cellular Mechanics and Interactions","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.8026576638221741},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6787101030349731},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6557059288024902},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6335911750793457},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6180728673934937},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5779029726982117},{"id":"https://openalex.org/keywords/macro","display_name":"Macro","score":0.4501962661743164},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42565980553627014},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37155210971832275},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3354388475418091},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22306519746780396},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.18818217515945435},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.1214236319065094}],"concepts":[{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.8026576638221741},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6787101030349731},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6557059288024902},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6335911750793457},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6180728673934937},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5779029726982117},{"id":"https://openalex.org/C166955791","wikidata":"https://www.wikidata.org/wiki/Q629579","display_name":"Macro","level":2,"score":0.4501962661743164},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42565980553627014},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37155210971832275},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3354388475418091},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22306519746780396},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.18818217515945435},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.1214236319065094},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cbs55922.2023.10115406","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cbs55922.2023.10115406","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Cyborg and Bionic Systems (CBS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1754386378","https://openalex.org/W1984342849","https://openalex.org/W2104828567","https://openalex.org/W2104839086","https://openalex.org/W2114795760","https://openalex.org/W2119402808","https://openalex.org/W2133718046","https://openalex.org/W2149629276","https://openalex.org/W2904061522","https://openalex.org/W2909296881","https://openalex.org/W2938980923","https://openalex.org/W2982528182","https://openalex.org/W2998948479","https://openalex.org/W3004123276","https://openalex.org/W3005258888","https://openalex.org/W3087847574","https://openalex.org/W3214878471","https://openalex.org/W4200443780"],"related_works":["https://openalex.org/W1981002473","https://openalex.org/W2357657342","https://openalex.org/W2153432761","https://openalex.org/W2152623100","https://openalex.org/W4214878056","https://openalex.org/W1580144672","https://openalex.org/W2142042635","https://openalex.org/W1988127757","https://openalex.org/W4248634784","https://openalex.org/W2103296973"],"abstract_inverted_index":{"In":[0],"the":[1,43,49,75,86,90,107,115,139,155,159,193],"field":[2],"of":[3,23,46,66,89,110,118,142,158,196],"biomedicine,":[4],"contact":[5,17],"micromanipulations":[6],"are":[7],"mostly":[8],"based":[9,131],"on":[10,174],"multi-robot":[11,132,149],"coordinated":[12],"operations":[13],"to":[14,62,85,105,137],"achieve":[15],"mechanical":[16],"interactions":[18],"with":[19,152],"a":[20,26,59,63,97,128,188],"single":[21,60],"type":[22],"target":[24],"in":[25],"specific":[27],"task":[28,61,64],"scenario,":[29],"which":[30,69,101],"has":[31,55],"advantages":[32],"such":[33,199],"as":[34,200],"high":[35,37,40],"repeatability,":[36],"precision":[38],"and":[39,80,113,122,171,182,186],"stability.":[41],"With":[42],"rapid":[44],"development":[45],"biomedical":[47],"technology,":[48],"increasingly":[50],"complex":[51,111,144,197],"biological":[52,201],"micromanipulation":[53,136],"process":[54],"been":[56],"transformed":[57],"from":[58,178],"sequence":[65],"several":[67],"subtasks,":[68],"puts":[70],"forward":[71],"higher":[72],"requirements":[73,141],"for":[74,191],"coordination,":[76],"flexibility,":[77],"operation":[78,99],"accuracy":[79],"so":[81],"on.":[82],"However,":[83],"due":[84],"immutable":[87],"configuration":[88],"end-effector,":[91],"most":[92],"microrobotic":[93],"manipulation":[94,163,173],"systems":[95],"have":[96],"fixed":[98],"dimension,":[100],"makes":[102],"it":[103],"difficult":[104],"include":[106],"whole":[108,194],"processing":[109,195],"tasks":[112,121,164],"meet":[114,138],"differentiated":[116],"needs":[117],"different":[119,162],"operational":[120],"objectives.":[123],"Therefore,":[124],"this":[125],"paper":[126],"proposes":[127],"formation":[129,150],"control":[130,151],"dynamical":[133,156],"reconfiguration":[134,157],"collaborative":[135,153],"dynamic":[140],"multi-process":[143],"tasks.":[145],"By":[146],"combining":[147],"macro":[148],"micromanipulation,":[154],"end-effector":[160],"under":[161],"is":[165],"realized.":[166],"It":[167],"can":[168],"execute":[169],"efficient":[170],"precise":[172],"fragile":[175],"micro-objects":[176],"ranging":[177],"50":[179],"$\\mu":[180,184],"\\mathrm{m}$":[181],"1000":[183],"\\mathrm{m}$,":[185],"provide":[187],"new":[189],"idea":[190],"accomplishing":[192],"tasks,":[198],"microassembly.":[202]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}