{"id":"https://openalex.org/W3004427030","doi":"https://doi.org/10.1109/icar46387.2019.8981657","title":"Hand-Guidance of a Mobile Manipulator Using Online Effective Mass Optimization","display_name":"Hand-Guidance of a Mobile Manipulator Using Online Effective Mass Optimization","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3004427030","doi":"https://doi.org/10.1109/icar46387.2019.8981657","mag":"3004427030"},"language":"en","primary_location":{"id":"doi:10.1109/icar46387.2019.8981657","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar46387.2019.8981657","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 19th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5103224528","display_name":"Christian Ritter","orcid":"https://orcid.org/0000-0002-1720-6983"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Ritter","raw_affiliation_strings":["Faculty of Electrical Engineering and Information Technology, Technical University Munich (TUM), Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Information Technology, Technical University Munich (TUM), Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055659493","display_name":"Shashank Sharma","orcid":"https://orcid.org/0000-0002-6325-6025"},"institutions":[{"id":"https://openalex.org/I4210129999","display_name":"KUKA (Germany)","ror":"https://ror.org/02y22dj89","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210129999"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Shashank Sharma","raw_affiliation_strings":["KUKA Roboter GmbH, Augsburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KUKA Roboter GmbH, Augsburg, Germany","institution_ids":["https://openalex.org/I4210129999"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"116","issue":null,"first_page":"192","last_page":"197"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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":1.0,"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":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994000196456909,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.7027342915534973},{"id":"https://openalex.org/keywords/ellipsoid","display_name":"Ellipsoid","score":0.6068689227104187},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5679724216461182},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5346144437789917},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5197248458862305},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4776548147201538},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4750889837741852},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.47125887870788574},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4637969136238098},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4442160427570343},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.44370681047439575},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.4114059805870056},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35961514711380005},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3085075318813324},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25737425684928894},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22228950262069702},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0762917697429657}],"concepts":[{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.7027342915534973},{"id":"https://openalex.org/C57489055","wikidata":"https://www.wikidata.org/wiki/Q190046","display_name":"Ellipsoid","level":2,"score":0.6068689227104187},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5679724216461182},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5346144437789917},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5197248458862305},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4776548147201538},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4750889837741852},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.47125887870788574},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4637969136238098},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4442160427570343},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.44370681047439575},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.4114059805870056},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35961514711380005},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3085075318813324},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25737425684928894},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22228950262069702},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0762917697429657},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icar46387.2019.8981657","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar46387.2019.8981657","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 19th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W167312421","https://openalex.org/W281943252","https://openalex.org/W1864838508","https://openalex.org/W1971908862","https://openalex.org/W1976030291","https://openalex.org/W2049410986","https://openalex.org/W2066379939","https://openalex.org/W2097724816","https://openalex.org/W2099915711","https://openalex.org/W2104332709","https://openalex.org/W2112474089","https://openalex.org/W2135929901","https://openalex.org/W2143185315","https://openalex.org/W2167798707","https://openalex.org/W2177274602","https://openalex.org/W2286050535","https://openalex.org/W2566908500","https://openalex.org/W2765841380","https://openalex.org/W2797638056","https://openalex.org/W4248446246","https://openalex.org/W4302078450","https://openalex.org/W6606826397","https://openalex.org/W6675251542","https://openalex.org/W6731632438"],"related_works":["https://openalex.org/W2072219812","https://openalex.org/W1961973183","https://openalex.org/W2117395059","https://openalex.org/W2553080719","https://openalex.org/W183339967","https://openalex.org/W3126479066","https://openalex.org/W2334127183","https://openalex.org/W2893203906","https://openalex.org/W1982129414","https://openalex.org/W3004427030"],"abstract_inverted_index":{"This":[0],"work":[1],"addresses":[2],"the":[3,10,23,26,30,34,39,43,48,56,60,64,87,116,119],"field":[4],"of":[5,12,25,29,63,118],"human-robot":[6],"collaboration,":[7],"in":[8,59],"particular,":[9],"hand-guidance":[11,19,65],"a":[13,72,78,95,99,110,124],"redundant":[14],"mobile":[15,90],"manipulator.":[16],"An":[17],"efficient":[18],"is":[20,52,69,84,102,113,127],"related":[21,122],"to":[22,41,54,123],"improvement":[24,117],"inertial":[27],"properties":[28],"end-effector":[31],"felt":[32],"by":[33],"operator,":[35],"as":[36],"these":[37],"describe":[38],"effort":[40],"guide":[42],"robot.":[44],"In":[45],"this":[46,108],"regard,":[47],"operational":[49],"space":[50,62],"formulation":[51],"used":[53],"minimize":[55],"effective":[57,120],"mass":[58,121],"null":[61],"task.":[66],"The":[67,82],"minimization":[68],"based":[70],"on":[71,86,94,103],"geometric":[73],"ellipsoid":[74],"representation":[75],"and":[76,92,105],"applies":[77],"gradient":[79],"descent":[80],"method.":[81],"approach":[83],"tested":[85],"KUKA":[88],"VALERI":[89],"manipulator":[91],"implemented":[93],"real-time":[96],"framework,":[97],"whereby":[98],"particular":[100],"focus":[101],"stability":[104],"safety.":[106],"For":[107],"purpose,":[109],"power":[111],"limitation":[112],"proposed.":[114],"Finally,":[115],"specific":[125],"direction":[126],"discussed.":[128]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}