{"id":"https://openalex.org/W2951539743","doi":"https://doi.org/10.1109/icarsc.2019.8733639","title":"Autonomous 4DOF Robotic Manipulator Prototype for Industrial Environment and Human Cooperation","display_name":"Autonomous 4DOF Robotic Manipulator Prototype for Industrial Environment and Human Cooperation","publication_year":2019,"publication_date":"2019-04-01","ids":{"openalex":"https://openalex.org/W2951539743","doi":"https://doi.org/10.1109/icarsc.2019.8733639","mag":"2951539743"},"language":"en","primary_location":{"id":"doi:10.1109/icarsc.2019.8733639","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc.2019.8733639","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/1822/70285","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041674872","display_name":"In\u00eas S. Garcia","orcid":"https://orcid.org/0000-0002-4605-6961"},"institutions":[{"id":"https://openalex.org/I99682543","display_name":"University of Minho","ror":"https://ror.org/037wpkx04","country_code":"PT","type":"education","lineage":["https://openalex.org/I99682543"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Ines Garcia","raw_affiliation_strings":["Industrial Electronics Dept, University of Minho, Guimar\u00e3es, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Industrial Electronics Dept, University of Minho, Guimar\u00e3es, Portugal","institution_ids":["https://openalex.org/I99682543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033899568","display_name":"Fernando Ribeiro Gon\u00e7alves","orcid":"https://orcid.org/0000-0003-4110-5215"},"institutions":[{"id":"https://openalex.org/I99682543","display_name":"University of Minho","ror":"https://ror.org/037wpkx04","country_code":"PT","type":"education","lineage":["https://openalex.org/I99682543"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Fernando Goncalves","raw_affiliation_strings":["Mechanical Engineering Dept., University of Minho, Guimar\u00e3es, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Dept., University of Minho, Guimar\u00e3es, Portugal","institution_ids":["https://openalex.org/I99682543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014399341","display_name":"Tiago Ribeiro","orcid":"https://orcid.org/0000-0002-5909-0827"},"institutions":[{"id":"https://openalex.org/I99682543","display_name":"University of Minho","ror":"https://ror.org/037wpkx04","country_code":"PT","type":"education","lineage":["https://openalex.org/I99682543"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Tiago Ribeiro","raw_affiliation_strings":["Industrial Electronics Dept, University of Minho, Guimar\u00e3es, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Industrial Electronics Dept, University of Minho, Guimar\u00e3es, Portugal","institution_ids":["https://openalex.org/I99682543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049575924","display_name":"Pedro Fernandes","orcid":"https://orcid.org/0000-0003-3920-8194"},"institutions":[{"id":"https://openalex.org/I99682543","display_name":"University of Minho","ror":"https://ror.org/037wpkx04","country_code":"PT","type":"education","lineage":["https://openalex.org/I99682543"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Pedro Fernandes","raw_affiliation_strings":["Industrial Electronics Dept, University of Minho, Guimar\u00e3es, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Industrial Electronics Dept, University of Minho, Guimar\u00e3es, Portugal","institution_ids":["https://openalex.org/I99682543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076935999","display_name":"C\u00e9sar B. Rocha","orcid":"https://orcid.org/0000-0003-4063-5468"},"institutions":[{"id":"https://openalex.org/I99682543","display_name":"University of Minho","ror":"https://ror.org/037wpkx04","country_code":"PT","type":"education","lineage":["https://openalex.org/I99682543"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Cesar Rocha","raw_affiliation_strings":["Mechanical Engineering Dept., University of Minho, Guimar\u00e3es, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Dept., University of Minho, Guimar\u00e3es, Portugal","institution_ids":["https://openalex.org/I99682543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037016241","display_name":"Ricardo Boucinha","orcid":null},"institutions":[{"id":"https://openalex.org/I99682543","display_name":"University of Minho","ror":"https://ror.org/037wpkx04","country_code":"PT","type":"education","lineage":["https://openalex.org/I99682543"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Ricardo Boucinha","raw_affiliation_strings":["Mechanical Engineering Dept., University of Minho, Guimar\u00e3es, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Dept., University of Minho, Guimar\u00e3es, Portugal","institution_ids":["https://openalex.org/I99682543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077201989","display_name":"Gil Lopes","orcid":"https://orcid.org/0000-0002-9475-9020"},"institutions":[{"id":"https://openalex.org/I99682543","display_name":"University of Minho","ror":"https://ror.org/037wpkx04","country_code":"PT","type":"education","lineage":["https://openalex.org/I99682543"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Gil Lopes","raw_affiliation_strings":["Industrial Electronics Dept, ALGORITMI Center University of Minho, Guimar\u00e3es, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Industrial Electronics Dept, ALGORITMI Center University of Minho, Guimar\u00e3es, Portugal","institution_ids":["https://openalex.org/I99682543"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000090542","display_name":"Ant\u00f3nio Fernando Ribeiro","orcid":"https://orcid.org/0000-0002-6438-1223"},"institutions":[{"id":"https://openalex.org/I99682543","display_name":"University of Minho","ror":"https://ror.org/037wpkx04","country_code":"PT","type":"education","lineage":["https://openalex.org/I99682543"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"A. Fernando Ribeiro","raw_affiliation_strings":["Industrial Electronics Dept, ALGORITMI Center University of Minho, Guimar\u00e3es, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Industrial Electronics Dept, ALGORITMI Center University of Minho, Guimar\u00e3es, Portugal","institution_ids":["https://openalex.org/I99682543"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5041674872"],"corresponding_institution_ids":["https://openalex.org/I99682543"],"apc_list":null,"apc_paid":null,"fwci":0.843,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.73535052,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9983000159263611,"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":0.9983000159263611,"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":0.9934999942779541,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9790999889373779,"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/inverse-kinematics","display_name":"Inverse kinematics","score":0.6348913311958313},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6023014783859253},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6015569567680359},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5787534713745117},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5655166506767273},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5454446077346802},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5421356558799744},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.5001986026763916},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.4929060935974121},{"id":"https://openalex.org/keywords/smt-placement-equipment","display_name":"SMT placement equipment","score":0.4813535809516907},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4575125575065613},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.4355050325393677},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.41056472063064575},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2579828202724457},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2001497447490692}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6348913311958313},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6023014783859253},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6015569567680359},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5787534713745117},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5655166506767273},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5454446077346802},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5421356558799744},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.5001986026763916},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.4929060935974121},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.4813535809516907},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4575125575065613},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.4355050325393677},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.41056472063064575},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2579828202724457},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2001497447490692},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icarsc.2019.8733639","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc.2019.8733639","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:repositorium.sdum.uminho.pt:1822/70285","is_oa":true,"landing_page_url":"http://hdl.handle.net/1822/70285","pdf_url":"http://hdl.handle.net/1822/70285","source":{"id":"https://openalex.org/S4306400354","display_name":"Reposit\u00f3riUM (Universidade do Minho)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99682543","host_organization_name":"University of Minho","host_organization_lineage":["https://openalex.org/I99682543"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},{"id":"pmh:oai:repositorium.uminho.pt:1822/70285","is_oa":true,"landing_page_url":"https://hdl.handle.net/1822/70285","pdf_url":null,"source":{"id":"https://openalex.org/S4306402433","display_name":"Portuguese National Funding Agency for Science, Research and Technology (RCAAP Project by FCT)","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"}],"best_oa_location":{"id":"pmh:oai:repositorium.sdum.uminho.pt:1822/70285","is_oa":true,"landing_page_url":"http://hdl.handle.net/1822/70285","pdf_url":"http://hdl.handle.net/1822/70285","source":{"id":"https://openalex.org/S4306400354","display_name":"Reposit\u00f3riUM (Universidade do Minho)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99682543","host_organization_name":"University of Minho","host_organization_lineage":["https://openalex.org/I99682543"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/17","score":0.5299999713897705,"display_name":"Partnerships for the goals"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2951539743.pdf"},"referenced_works_count":6,"referenced_works":["https://openalex.org/W625190106","https://openalex.org/W2025939589","https://openalex.org/W2062691475","https://openalex.org/W2168195382","https://openalex.org/W2727318935","https://openalex.org/W2792852625"],"related_works":["https://openalex.org/W2998185885","https://openalex.org/W2600861247","https://openalex.org/W2355067942","https://openalex.org/W2577890842","https://openalex.org/W1976840544","https://openalex.org/W2016818337","https://openalex.org/W2916807707","https://openalex.org/W3083859914","https://openalex.org/W4360878639","https://openalex.org/W2159353126"],"abstract_inverted_index":{"This":[0,152],"paper":[1],"describes":[2],"the":[3,41,46,58,63,72,110,133,160],"design":[4],"and":[5,50,74,80,130,137,142,144,157],"development":[6],"of":[7,15,40,76,172],"an":[8,100],"autonomous":[9],"robotic":[10],"manipulator":[11,18,66],"with":[12,27,97],"four":[13],"degrees":[14],"freedom.":[16],"The":[17,32,48,65,82],"is":[19,164,168],"named":[20],"RACHIE":[21],"-":[22],"\u201cRobotic":[23],"Arm":[24],"for":[25,178],"Collaboration":[26],"Humans":[28],"in":[29,149,159],"Industrial":[30],"Environment\u201d.":[31],"idea":[33],"was":[34],"to":[35,106,127],"create":[36],"a":[37,86,114,118,169],"smaller":[38,179],"version":[39,171],"industrial":[42,101],"manipulators":[43],"available":[44],"on":[45,62,99,123],"market.":[47],"mechanical":[49],"electronic":[51],"components":[52],"are":[53,147],"presented":[54],"as":[55,57,68,166],"well":[56],"software":[59],"algorithms":[60],"implemented":[61,113],"robot.":[64],"has":[67,112],"its":[69,124,145],"primary":[70],"goal":[71],"detection":[73],"organization":[75],"cans":[77,94,129],"by":[78,95],"color":[79],"defects.":[81],"robot":[83,111,153],"can":[84,91],"detect":[85,128],"human":[87],"operator":[88],"so":[89],"it":[90,167,176],"deliver":[92],"defective":[93],"collaborating":[96],"him/her":[98],"environment.":[102],"To":[103],"be":[104],"able":[105],"perform":[107],"such":[108],"task,":[109],"machine":[115],"learning":[116],"algorithm,":[117],"Haar":[119],"feature-based":[120],"cascade":[121],"classifier,":[122],"vision":[125],"system":[126],"humans.":[131],"On":[132],"handler":[134],"motion,":[135],"direct":[136],"inverse":[138],"kinematics":[139],"were":[140],"calculated":[141],"implemented,":[143],"equations":[146],"described":[148],"this":[150],"paper.":[151],"presents":[154],"high":[155],"reliability":[156],"robustness":[158],"task":[161],"assigned.":[162],"It":[163],"low-cost":[165],"small":[170],"commercial":[173],"ones,":[174],"making":[175],"optimized":[177],"tasks.":[180]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-06-01T08:46:32.239190","created_date":"2025-10-10T00:00:00"}
