{"id":"https://openalex.org/W2042175126","doi":"https://doi.org/10.1109/icca.2014.6870932","title":"Walking assist design of a dual-arm robot","display_name":"Walking assist design of a dual-arm robot","publication_year":2014,"publication_date":"2014-06-01","ids":{"openalex":"https://openalex.org/W2042175126","doi":"https://doi.org/10.1109/icca.2014.6870932","mag":"2042175126"},"language":"en","primary_location":{"id":"doi:10.1109/icca.2014.6870932","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2014.6870932","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"11th IEEE International Conference on Control & Automation (ICCA)","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/A5033815900","display_name":"Ching-Jui Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Ching-Jui Wu","raw_affiliation_strings":["Institute of Electrical Control Engineering, National Chiao Tung University, Hsinchu, Taiwan, ROC","[Inst. of Electr. Control Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Electrical Control Engineering, National Chiao Tung University, Hsinchu, Taiwan, ROC","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"[Inst. of Electr. Control Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan]","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083629950","display_name":"Kai\u2010Tai Song","orcid":"https://orcid.org/0000-0003-1728-4057"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Kai-Tai Song","raw_affiliation_strings":["Institute of Electrical Control Engineering, National Chiao Tung University, Hsinchu, Taiwan, ROC","[Inst. of Electr. Control Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Electrical Control Engineering, National Chiao Tung University, Hsinchu, Taiwan, ROC","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"[Inst. of Electr. Control Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan]","institution_ids":["https://openalex.org/I148366613"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I148366613"],"apc_list":null,"apc_paid":null,"fwci":0.6005,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.63423788,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2009","issue":null,"first_page":"273","last_page":"278"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9995999932289124,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9965000152587891,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6875996589660645},{"id":"https://openalex.org/keywords/bang-bang-robot","display_name":"Bang-bang robot","score":0.5514408946037292},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.5399482250213623},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.538512110710144},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5146737694740295},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5114463567733765},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4915829598903656},{"id":"https://openalex.org/keywords/arm-solution","display_name":"Arm solution","score":0.4832383096218109},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4621120095252991},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4360713064670563},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.42964062094688416},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.42884740233421326},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.41222119331359863},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3560037910938263},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26586800813674927}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6875996589660645},{"id":"https://openalex.org/C584957","wikidata":"https://www.wikidata.org/wiki/Q4854909","display_name":"Bang-bang robot","level":5,"score":0.5514408946037292},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5399482250213623},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.538512110710144},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5146737694740295},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5114463567733765},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4915829598903656},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.4832383096218109},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4621120095252991},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4360713064670563},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.42964062094688416},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.42884740233421326},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.41222119331359863},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3560037910938263},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26586800813674927},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icca.2014.6870932","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2014.6870932","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"11th IEEE International Conference on Control & Automation (ICCA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6100000143051147,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W132446192","https://openalex.org/W1567949512","https://openalex.org/W2100173077","https://openalex.org/W2107758079","https://openalex.org/W2115948486","https://openalex.org/W2127125933","https://openalex.org/W2129256520","https://openalex.org/W2148124684","https://openalex.org/W2540104143","https://openalex.org/W3140622404","https://openalex.org/W6605418718","https://openalex.org/W6633981650","https://openalex.org/W6677314449","https://openalex.org/W6679361362","https://openalex.org/W6681979036"],"related_works":["https://openalex.org/W3044674998","https://openalex.org/W2139206564","https://openalex.org/W2124086581","https://openalex.org/W2160983430","https://openalex.org/W2209062660","https://openalex.org/W4376456253","https://openalex.org/W2026970149","https://openalex.org/W4242231179","https://openalex.org/W1979819035","https://openalex.org/W3179890939"],"abstract_inverted_index":{"In":[0,73,108],"this":[1,109],"paper,":[2],"a":[3,16,117,123,149],"dual-arm":[4,166],"mobile":[5],"robot":[6,19,35,42,52,61,78,112,132,145,167],"is":[7,36,98,127],"designed":[8,91],"and":[9,50,84,103,106,163],"experimented":[10],"to":[11,15,29,65,69,82,100,134,152],"provide":[12,70,153,169],"walking":[13,58,71,141,155,171],"support":[14,142],"user.":[17],"The":[18,140],"has":[20],"two":[21],"operation":[22],"modes,":[23],"which":[24],"can":[25,43,62,168],"be":[26,63],"transformed":[27,81],"according":[28],"the":[30,34,38,41,55,60,66,74,77,89,111,130,136,154,160,165],"user's":[31,137],"need.":[32],"When":[33,54],"in":[37],"grasping":[39],"mode,":[40,76],"fetch":[44],"an":[45],"object":[46],"using":[47],"computer":[48],"vision":[49],"6-DOF":[51,124],"arms.":[53],"user":[56,120,170],"wants":[57],"help,":[59],"configured":[64,115],"supporting":[67,75],"mode":[68],"assist.":[72,156,172],"arms":[79,113],"are":[80,114],"close":[83],"hold":[85],"each":[86],"other":[87],"by":[88],"special":[90],"buckle":[92,104],"mechanism.":[93],"A":[94],"motion":[95,138],"planning":[96],"strategy":[97],"proposed":[99,161],"achieve":[101],"arm-closing":[102],"locking":[105],"unlocking.":[107],"way,":[110],"into":[116],"handrail":[118],"for":[119],"support.":[121],"Furthermore,":[122],"force/torque":[125],"sensor":[126],"installed":[128],"on":[129,148],"right":[131],"arm":[133],"estimate":[135],"intent.":[139],"system":[143],"determines":[144],"velocity":[146],"based":[147],"compliance":[150],"controller":[151],"Several":[157],"experiments":[158],"validate":[159],"design":[162],"demonstrate":[164]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}