{"id":"https://openalex.org/W4405253430","doi":"https://doi.org/10.1109/icarcv63323.2024.10821705","title":"Maintaining Balance of Mobile Manipulators for Safe Pick-Up Tasks","display_name":"Maintaining Balance of Mobile Manipulators for Safe Pick-Up Tasks","publication_year":2024,"publication_date":"2024-12-12","ids":{"openalex":"https://openalex.org/W4405253430","doi":"https://doi.org/10.1109/icarcv63323.2024.10821705"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv63323.2024.10821705","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv63323.2024.10821705","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 18th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://inria.hal.science/hal-04809183v1/file/safe_pickup_using_DTCBF-1.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5094197815","display_name":"Francesco D\u2019Orazio","orcid":null},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Francesco D'Orazio","raw_affiliation_strings":["Sapienza University of Rome,Department of Computer, Control and Management Engineering,Rome,Italy"],"affiliations":[{"raw_affiliation_string":"Sapienza University of Rome,Department of Computer, Control and Management Engineering,Rome,Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002888578","display_name":"Tommaso Belvedere","orcid":"https://orcid.org/0000-0001-5128-1576"},"institutions":[{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Tommaso Belvedere","raw_affiliation_strings":["Université de Rennes, Inria, IRISA,CNRS,Rennes,France"],"affiliations":[{"raw_affiliation_string":"Université de Rennes, Inria, IRISA,CNRS,Rennes,France","institution_ids":["https://openalex.org/I2802519937","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021451193","display_name":"Spyridon G. Tarantos","orcid":"https://orcid.org/0000-0001-6874-5904"},"institutions":[{"id":"https://openalex.org/I120250893","display_name":"New York University Abu Dhabi","ror":"https://ror.org/00e5k0821","country_code":"AE","type":"education","lineage":["https://openalex.org/I120250893","https://openalex.org/I57206974"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Spyridon G. Tarantos","raw_affiliation_strings":["New York University Abu Dhabi,Center of AI & Robotics (CAIR) and Engineering Division,Abu Dhabi,United Arab Emirates"],"affiliations":[{"raw_affiliation_string":"New York University Abu Dhabi,Center of AI & Robotics (CAIR) and Engineering Division,Abu Dhabi,United Arab Emirates","institution_ids":["https://openalex.org/I120250893"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085865201","display_name":"Giuseppe Oriolo","orcid":"https://orcid.org/0000-0001-6153-9278"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giuseppe Oriolo","raw_affiliation_strings":["Sapienza University of Rome,Department of Computer, Control and Management Engineering,Rome,Italy"],"affiliations":[{"raw_affiliation_string":"Sapienza University of Rome,Department of Computer, Control and Management Engineering,Rome,Italy","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5094197815"],"corresponding_institution_ids":["https://openalex.org/I861853513"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.22738252,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1207","last_page":"1212"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9821000099182129,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9821000099182129,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9660000205039978,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9628999829292297,"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/balance","display_name":"Balance (ability)","score":0.6680604219436646},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6184125542640686},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4460398852825165},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.3302730917930603},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.251624196767807},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13234353065490723},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.11783558130264282}],"concepts":[{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.6680604219436646},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6184125542640686},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4460398852825165},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.3302730917930603},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.251624196767807},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13234353065490723},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.11783558130264282},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icarcv63323.2024.10821705","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv63323.2024.10821705","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 18th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04809183v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-04809183","pdf_url":"https://inria.hal.science/hal-04809183v1/file/safe_pickup_using_DTCBF-1.pdf","source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ICARCV 2024 - 18th International Conference on Control Automation, Robotics and Vision, Dec 2024, Dubai, United Arab Emirates. pp.1-6","raw_type":"Conference papers"},{"id":"pmh:oai:iris.uniroma1.it:11573/1726461","is_oa":true,"landing_page_url":"https://hdl.handle.net/11573/1726461","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04809183v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-04809183","pdf_url":"https://inria.hal.science/hal-04809183v1/file/safe_pickup_using_DTCBF-1.pdf","source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ICARCV 2024 - 18th International Conference on Control Automation, Robotics and Vision, Dec 2024, Dubai, United Arab Emirates. pp.1-6","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4405253430.pdf","grobid_xml":"https://content.openalex.org/works/W4405253430.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W1992653875","https://openalex.org/W2037729465","https://openalex.org/W2037736104","https://openalex.org/W2095590857","https://openalex.org/W2099122932","https://openalex.org/W2106284607","https://openalex.org/W2113265921","https://openalex.org/W2136621952","https://openalex.org/W2139246146","https://openalex.org/W2147832762","https://openalex.org/W2151845580","https://openalex.org/W2560504659","https://openalex.org/W2586614912","https://openalex.org/W2735010720","https://openalex.org/W2892245034","https://openalex.org/W2963442856","https://openalex.org/W2967354177","https://openalex.org/W2968945909","https://openalex.org/W3186317065","https://openalex.org/W3206308448","https://openalex.org/W4289829390","https://openalex.org/W4301014524","https://openalex.org/W4327599696"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"This":[0,74,103],"paper":[1],"presents":[2],"a":[3,12,28,43,52,79],"novel":[4],"method":[5,119],"to":[6,55],"maintain":[7],"the":[8,17,25,58,63,70,83,87,94,97,100,106,112,116,126,135,140,146],"dynamic":[9],"balance":[10,61,80],"of":[11,19,27,93,99],"Mobile":[13],"Manipulator":[14],"(MM)":[15],"during":[16,62],"pick-up":[18,101],"heavy":[20],"objects.":[21],"The":[22,47,118,131],"approach":[23,137],"entails":[24],"generation":[26],"preliminary":[29],"reach-to-grasp":[30],"trajectory,":[31],"which":[32],"is":[33,49,72,75,120,148],"subsequently":[34],"refined":[35],"by":[36,77],"an":[37],"Optimization-Based":[38],"Controller":[39],"(OBC)":[40],"formulated":[41],"as":[42],"Quadratic":[44],"Program":[45],"(QP).":[46],"trajectory":[48],"modified":[50],"in":[51,129],"minimal":[53],"fashion":[54],"ensure":[56],"that":[57,85,111,134],"robot":[59,95,128,141],"maintains":[60],"reaching":[64],"phase":[65],"and":[66,108],"remains":[67],"balanced":[68],"when":[69,145],"payload":[71,147],"grasped.":[73],"accomplished":[76],"incorporating":[78],"constraint":[81],"into":[82],"OBC":[84],"predicts":[86],"Zero":[88],"Moment":[89],"Point":[90],"(ZMP)":[91],"position":[92],"at":[96],"beginning":[98],"phase.":[102],"accounts":[104],"for":[105],"gravitational":[107],"inertial":[109],"effects":[110],"object":[113],"has":[114],"on":[115],"robot.":[117],"validated":[121],"through":[122],"simulations":[123],"conducted":[124],"with":[125],"TIAGo":[127],"Gazebo.":[130],"results":[132],"demonstrate":[133],"proposed":[136],"effectively":[138],"prevents":[139],"from":[142],"tipping":[143],"over":[144],"considered.":[149]},"counts_by_year":[],"updated_date":"2026-03-14T08:43:22.919905","created_date":"2025-10-10T00:00:00"}