{"id":"https://openalex.org/W4285814271","doi":"https://doi.org/10.1109/icps51978.2022.9816981","title":"An approach for the bimanual manipulation of a deformable linear object using a dual-arm industrial robot: cable routing use case","display_name":"An approach for the bimanual manipulation of a deformable linear object using a dual-arm industrial robot: cable routing use case","publication_year":2022,"publication_date":"2022-05-24","ids":{"openalex":"https://openalex.org/W4285814271","doi":"https://doi.org/10.1109/icps51978.2022.9816981"},"language":"en","primary_location":{"id":"doi:10.1109/icps51978.2022.9816981","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icps51978.2022.9816981","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 5th International Conference on Industrial Cyber-Physical Systems (ICPS)","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/A5040064872","display_name":"Pablo Malvido Fresnillo","orcid":"https://orcid.org/0000-0003-4579-1259"},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]}],"countries":["FI"],"is_corresponding":true,"raw_author_name":"Pablo Malvido Fresnillo","raw_affiliation_strings":["Tampere University,FAST-Lab, Faculty of Engineering and Natural Sciences,Tampere,Finland","FAST-Lab, Faculty of Engineering and Natural Sciences, Tampere University, Tampere, Finland"],"affiliations":[{"raw_affiliation_string":"Tampere University,FAST-Lab, Faculty of Engineering and Natural Sciences,Tampere,Finland","institution_ids":["https://openalex.org/I166825849"]},{"raw_affiliation_string":"FAST-Lab, Faculty of Engineering and Natural Sciences, Tampere University, Tampere, Finland","institution_ids":["https://openalex.org/I166825849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046118918","display_name":"Saigopal Vasudevan","orcid":"https://orcid.org/0000-0002-4180-7674"},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Saigopal Vasudevan","raw_affiliation_strings":["Tampere University,FAST-Lab, Faculty of Engineering and Natural Sciences,Tampere,Finland","FAST-Lab, Faculty of Engineering and Natural Sciences, Tampere University, Tampere, Finland"],"affiliations":[{"raw_affiliation_string":"Tampere University,FAST-Lab, Faculty of Engineering and Natural Sciences,Tampere,Finland","institution_ids":["https://openalex.org/I166825849"]},{"raw_affiliation_string":"FAST-Lab, Faculty of Engineering and Natural Sciences, Tampere University, Tampere, Finland","institution_ids":["https://openalex.org/I166825849"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033999675","display_name":"Wael M. Mohammed","orcid":"https://orcid.org/0000-0002-8364-3348"},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Wael M. Mohammed","raw_affiliation_strings":["Tampere University,FAST-Lab, Faculty of Engineering and Natural Sciences,Tampere,Finland","FAST-Lab, Faculty of Engineering and Natural Sciences, Tampere University, Tampere, Finland"],"affiliations":[{"raw_affiliation_string":"Tampere University,FAST-Lab, Faculty of Engineering and Natural Sciences,Tampere,Finland","institution_ids":["https://openalex.org/I166825849"]},{"raw_affiliation_string":"FAST-Lab, Faculty of Engineering and Natural Sciences, Tampere University, Tampere, Finland","institution_ids":["https://openalex.org/I166825849"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5040064872"],"corresponding_institution_ids":["https://openalex.org/I166825849"],"apc_list":null,"apc_paid":null,"fwci":0.7287,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.68766505,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994000196456909,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"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/grippers","display_name":"Grippers","score":0.7225294709205627},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6755319833755493},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6746460795402527},{"id":"https://openalex.org/keywords/routing","display_name":"Routing (electronic design automation)","score":0.6344170570373535},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6156618595123291},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.6139474511146545},{"id":"https://openalex.org/keywords/workstation","display_name":"Workstation","score":0.6016067862510681},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.5576027631759644},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5372505187988281},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5286054015159607},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.4471403658390045},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35880953073501587},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3496277332305908},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.3295484781265259},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32551825046539307},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1535518765449524},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.0960787832736969}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.7225294709205627},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6755319833755493},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6746460795402527},{"id":"https://openalex.org/C74172769","wikidata":"https://www.wikidata.org/wiki/Q1446839","display_name":"Routing (electronic design automation)","level":2,"score":0.6344170570373535},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6156618595123291},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.6139474511146545},{"id":"https://openalex.org/C67953723","wikidata":"https://www.wikidata.org/wiki/Q192525","display_name":"Workstation","level":2,"score":0.6016067862510681},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.5576027631759644},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5372505187988281},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5286054015159607},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.4471403658390045},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35880953073501587},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3496277332305908},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.3295484781265259},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32551825046539307},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1535518765449524},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0960787832736969},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icps51978.2022.9816981","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icps51978.2022.9816981","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 5th International Conference on Industrial Cyber-Physical Systems (ICPS)","raw_type":"proceedings-article"},{"id":"pmh:oai:trepo.tuni.fi:10024/223286","is_oa":false,"landing_page_url":"https://trepo.tuni.fi/handle/10024/223286","pdf_url":null,"source":{"id":"https://openalex.org/S7407055260","display_name":"Trepo - Institutional Repository of Tampere University","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.4300000071525574,"display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G4044594563","display_name":null,"funder_award_id":"870133","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1990470929","https://openalex.org/W2037201547","https://openalex.org/W2052591588","https://openalex.org/W2096404799","https://openalex.org/W2143858177","https://openalex.org/W2147168033","https://openalex.org/W2163533523","https://openalex.org/W2165375872","https://openalex.org/W2413466706","https://openalex.org/W2472138074","https://openalex.org/W2808405904","https://openalex.org/W2810883421","https://openalex.org/W2901136733","https://openalex.org/W3003232400","https://openalex.org/W3111831490","https://openalex.org/W3159812989","https://openalex.org/W3177714505","https://openalex.org/W6756486208","https://openalex.org/W6794741268"],"related_works":["https://openalex.org/W2018466760","https://openalex.org/W2928483034","https://openalex.org/W4293086319","https://openalex.org/W1014586","https://openalex.org/W2061090284","https://openalex.org/W4360993792","https://openalex.org/W2136376495","https://openalex.org/W3023539519","https://openalex.org/W4285814271","https://openalex.org/W2022494135"],"abstract_inverted_index":{"The":[0,87],"automation":[1],"of":[2,90,131],"processes":[3],"that":[4],"handle":[5],"deformable":[6,42],"materials":[7,20],"is":[8,78],"considered":[9],"to":[10,16,144],"be":[11],"a":[12,61,84,91,99,107],"complicated":[13],"task.":[14],"Due":[15],"their":[17,25],"properties,":[18],"these":[19],"require":[21],"specialised":[22],"solutions":[23],"for":[24,40,53,80,149,158],"manipulation,":[26],"using":[27,32,60],"robotic":[28],"systems":[29],"and":[30,73,77,106,135],"mostly,":[31],"specifically":[33],"developed":[34,118],"hardware":[35],"which":[36],"limits":[37],"its":[38],"use":[39],"different":[41,160],"objects.":[43],"To":[44],"solve":[45],"this":[46,48],"issue,":[47],"paper":[49],"presents":[50],"an":[51,70],"approach":[52,66,88,154],"bimanually":[54],"manipulating":[55],"Deformable":[56],"Linear":[57],"Objects":[58],"(DLOs)":[59],"dual-arm":[62],"industrial":[63],"robot.":[64,151],"This":[65],"aims":[67],"at":[68],"providing":[69],"automatic,":[71],"generic,":[72],"easily":[74],"reconfigurable":[75,108],"solution":[76],"implemented":[79],"routing":[81,128],"cables":[82],"in":[83],"human-centric":[85],"platform.":[86],"consists":[89],"cyber-physical":[92],"system":[93],"(CPS)":[94],"composed":[95],"by":[96],"commercial":[97],"hardware:":[98],"robot":[100],"equipped":[101],"with":[102],"two":[103],"parallel":[104],"grippers,":[105],"Robot":[109],"Operating":[110],"System":[111],"(ROS)":[112],"software.":[113],"In":[114],"more":[115],"details,":[116],"the":[117,123,127,132,141,150,153],"software":[119],"extracts":[120],"information":[121,143],"about":[122],"process,":[124],"such":[125],"as":[126],"path,":[129],"keypoints":[130],"workstation":[133],"setup":[134],"objects":[136],"dimensions.":[137],"Then,":[138],"it":[139],"uses":[140],"extracted":[142],"generate":[145],"suitable":[146],"bimanual":[147],"trajectories":[148],"Finally,":[152],"has":[155],"been":[156],"tested":[157],"three":[159],"routine":[161],"paths.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-08T08:50:53.379069","created_date":"2025-10-10T00:00:00"}