{"id":"https://openalex.org/W3145289377","doi":"https://doi.org/10.1109/icara51699.2021.9376462","title":"DAIMM Simulation Platform for Dual-Arm Impedance Controlled Mobile Manipulation","display_name":"DAIMM Simulation Platform for Dual-Arm Impedance Controlled Mobile Manipulation","publication_year":2021,"publication_date":"2021-02-04","ids":{"openalex":"https://openalex.org/W3145289377","doi":"https://doi.org/10.1109/icara51699.2021.9376462","mag":"3145289377"},"language":"en","primary_location":{"id":"doi:10.1109/icara51699.2021.9376462","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara51699.2021.9376462","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 7th International Conference on Automation, Robotics and Applications (ICARA)","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/A5087355847","display_name":"Tomasz Winiarski","orcid":"https://orcid.org/0000-0002-9316-3284"},"institutions":[{"id":"https://openalex.org/I108403487","display_name":"Warsaw University of Technology","ror":"https://ror.org/00y0xnp53","country_code":"PL","type":"education","lineage":["https://openalex.org/I108403487"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Tomasz Winiarski","raw_affiliation_strings":["Warsaw University of Technology, Institute of Control and Computation Engineering, Warsaw, Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Warsaw University of Technology, Institute of Control and Computation Engineering, Warsaw, Poland","institution_ids":["https://openalex.org/I108403487"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046693968","display_name":"Jakub Sikora","orcid":"https://orcid.org/0000-0002-8333-4908"},"institutions":[{"id":"https://openalex.org/I108403487","display_name":"Warsaw University of Technology","ror":"https://ror.org/00y0xnp53","country_code":"PL","type":"education","lineage":["https://openalex.org/I108403487"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Jakub Sikora","raw_affiliation_strings":["Warsaw University of Technology, Institute of Control and Computation Engineering, Warsaw, Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Warsaw University of Technology, Institute of Control and Computation Engineering, Warsaw, Poland","institution_ids":["https://openalex.org/I108403487"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088144572","display_name":"Dawid Seredy\u0144ski","orcid":"https://orcid.org/0000-0003-2528-6335"},"institutions":[{"id":"https://openalex.org/I108403487","display_name":"Warsaw University of Technology","ror":"https://ror.org/00y0xnp53","country_code":"PL","type":"education","lineage":["https://openalex.org/I108403487"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Dawid Seredynski","raw_affiliation_strings":["Warsaw University of Technology, Institute of Control and Computation Engineering, Warsaw, Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Warsaw University of Technology, Institute of Control and Computation Engineering, Warsaw, Poland","institution_ids":["https://openalex.org/I108403487"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019065488","display_name":"Wojciech Dudek","orcid":"https://orcid.org/0000-0001-5326-1034"},"institutions":[{"id":"https://openalex.org/I108403487","display_name":"Warsaw University of Technology","ror":"https://ror.org/00y0xnp53","country_code":"PL","type":"education","lineage":["https://openalex.org/I108403487"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Wojciech Dudek","raw_affiliation_strings":["Warsaw University of Technology, Institute of Control and Computation Engineering, Warsaw, Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Warsaw University of Technology, Institute of Control and Computation Engineering, Warsaw, Poland","institution_ids":["https://openalex.org/I108403487"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6766,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.64731736,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"180","last_page":"184"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994999766349792,"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"}},{"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983999729156494,"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/workspace","display_name":"Workspace","score":0.7678989768028259},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.7399117946624756},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6799684166908264},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6332897543907166},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.5521265864372253},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5498202443122864},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5287505984306335},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5283646583557129},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5190578103065491},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5122644305229187},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47899696230888367},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.45225101709365845},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4308536946773529},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3778616786003113},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36845719814300537},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.360214501619339},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24993321299552917},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.08553531765937805}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7678989768028259},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.7399117946624756},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6799684166908264},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6332897543907166},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.5521265864372253},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5498202443122864},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5287505984306335},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5283646583557129},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5190578103065491},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5122644305229187},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47899696230888367},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.45225101709365845},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4308536946773529},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3778616786003113},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36845719814300537},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.360214501619339},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24993321299552917},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.08553531765937805},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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/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/icara51699.2021.9376462","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara51699.2021.9376462","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 7th International Conference on Automation, Robotics and Applications (ICARA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322637","display_name":"Politechnika Warszawska","ror":"https://ror.org/00y0xnp53"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W611238738","https://openalex.org/W1527464117","https://openalex.org/W1804182416","https://openalex.org/W1972267259","https://openalex.org/W1985709148","https://openalex.org/W2050755653","https://openalex.org/W2073924944","https://openalex.org/W2120906125","https://openalex.org/W2148033465","https://openalex.org/W2523772845","https://openalex.org/W2546850993","https://openalex.org/W2811472820","https://openalex.org/W2884873736","https://openalex.org/W2901136733","https://openalex.org/W2903355255","https://openalex.org/W2954060474","https://openalex.org/W2954826829","https://openalex.org/W2965111005","https://openalex.org/W2973204678","https://openalex.org/W2998904987","https://openalex.org/W3007743515","https://openalex.org/W3082846216","https://openalex.org/W6638330601","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W3048265633","https://openalex.org/W1515399142","https://openalex.org/W3197115974","https://openalex.org/W2052890916","https://openalex.org/W2557704567","https://openalex.org/W3141719704","https://openalex.org/W3206731162","https://openalex.org/W2672507148","https://openalex.org/W2283715810","https://openalex.org/W3006764516"],"abstract_inverted_index":{"One":[0],"of":[1,115],"the":[2,72,92,113,123],"most":[3],"considerable":[4],"research":[5],"problems":[6],"in":[7,12,16,54,91],"robotics":[8],"is":[9],"manipulation":[10,32,77,132],"investigated":[11],"robot":[13,27,120],"systems":[14],"operating":[15],"different":[17],"environments":[18],"and":[19,33,63,109,133],"performing":[20],"various":[21],"tasks.":[22],"There":[23],"are":[24],"many":[25],"advanced":[26],"tasks":[28,108,129],"that":[29],"require":[30],"agile":[31,131],"dual-arm":[34],"setup":[35],"to":[36,56,64,67,105],"make":[37],"them":[38],"feasible":[39],"(e.g.,":[40],"opening":[41],"a":[42,45,99],"jar":[43],"or":[44],"box,":[46],"package":[47],"wrapping).":[48],"Moreover,":[49,96],"robots":[50],"can":[51],"sense":[52],"torques":[53],"joints":[55],"be":[57,65,89],"compliant":[58],"during":[59],"cooperation":[60],"with":[61],"humans":[62],"mobile":[66,76],"enlarge":[68],"their":[69],"workspace.":[70],"Therefore,":[71],"dual-arm,":[73],"impedance":[74],"controlled":[75],"(DAIMM)":[78],"problem":[79,94],"emerge.":[80],"In":[81],"this":[82],"article":[83],"we":[84,97],"state":[85],"requirements,":[86],"which":[87],"should":[88],"considered":[90],"DAIMM":[93,107],"simulators.":[95],"propose":[98],"model":[100],"for":[101],"simulation":[102],"platforms":[103],"able":[104],"perform":[106],"verify":[110],"it":[111],"by":[112,122],"implementation":[114],"an":[116],"exemplary":[117,124],"platform.":[118],"The":[119],"simulated":[121],"platform":[125],"successfully":[126],"realised":[127],"two":[128],"involving":[130],"navigation.":[134]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}