{"id":"https://openalex.org/W2086558227","doi":"https://doi.org/10.1109/icra.2012.6224579","title":"Humanoid's dual arm object manipulation based on virtual dynamics model","display_name":"Humanoid's dual arm object manipulation based on virtual dynamics model","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2086558227","doi":"https://doi.org/10.1109/icra.2012.6224579","mag":"2086558227"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224579","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224579","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5036878215","display_name":"Sung Yul Shin","orcid":"https://orcid.org/0000-0002-3210-8417"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sung Yul Shin","raw_affiliation_strings":["Center for Bionics, Korea Institute of Science and Technology, Seoul, South Korea","Center for Bionics, Korea Institute of Science and Technology, Seoul, 130-650, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Bionics, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Center for Bionics, Korea Institute of Science and Technology, Seoul, 130-650, Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083895582","display_name":"Jun won Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jun won Lee","raw_affiliation_strings":["Center for Bionics, Korea Institute of Science and Technology, Seoul, South Korea","Center for Bionics, Korea Institute of Science and Technology, Seoul, 130-650, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Bionics, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Center for Bionics, Korea Institute of Science and Technology, Seoul, 130-650, Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102798763","display_name":"ChangHwan Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"ChangHwan Kim","raw_affiliation_strings":["Center for Bionics, Korea Institute of Science and Technology, Seoul, South Korea","Center for Bionics, Korea Institute of Science and Technology, Seoul, 130-650, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Bionics, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Center for Bionics, Korea Institute of Science and Technology, Seoul, 130-650, Korea","institution_ids":["https://openalex.org/I58716616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4497,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.81612714,"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":"2599","last_page":"2604"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9959999918937683,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8737034797668457},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7577511072158813},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6779782772064209},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6749716997146606},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6156489849090576},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.5768874287605286},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5768287777900696},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4945492446422577},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.4436275064945221},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4261086583137512},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41684022545814514},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.40658122301101685},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37696823477745056},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32926028966903687},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32424938678741455},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1972554624080658}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8737034797668457},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7577511072158813},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6779782772064209},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6749716997146606},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6156489849090576},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5768874287605286},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5768287777900696},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4945492446422577},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.4436275064945221},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4261086583137512},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41684022545814514},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40658122301101685},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37696823477745056},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32926028966903687},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32424938678741455},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1972554624080658},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/icra.2012.6224579","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224579","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1967377907","https://openalex.org/W1978023077","https://openalex.org/W1991541857","https://openalex.org/W2057247091","https://openalex.org/W2084891258","https://openalex.org/W2100756547","https://openalex.org/W2121753479","https://openalex.org/W2145221543","https://openalex.org/W2149286243","https://openalex.org/W2162488100","https://openalex.org/W2162930614","https://openalex.org/W2540202891","https://openalex.org/W2543474865","https://openalex.org/W6664780288","https://openalex.org/W6683723728"],"related_works":["https://openalex.org/W1984314158","https://openalex.org/W2543019745","https://openalex.org/W1532965292","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2172274897","https://openalex.org/W2778262232","https://openalex.org/W2151682110"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,13,29,40,65,72,95,101,125],"implement":[3],"promising":[4],"robot":[5,61,94,124],"applications":[6],"in":[7,43],"our":[8],"daily":[9],"lives,":[10],"robots":[11],"need":[12],"perform":[14,96],"manipulation":[15],"tasks":[16,98],"within":[17],"the":[18,44,68,74,86,93,108,113,118,123,132,135,144],"human":[19,45],"environments.":[20,46],"Especially":[21],"for":[22],"a":[23,31,50,78],"humanoid":[24,56,145],"robot,":[25,146],"it":[26,106],"is":[27,62,141,157],"essential":[28],"manipulate":[30,73],"variety":[32],"of":[33,52,81,99,163],"objects":[34,54],"with":[35,55,148],"different":[36,161],"shapes":[37],"and":[38,70,104],"sizes":[39],"assist":[41],"humans":[42],"This":[47],"paper":[48],"presents":[49],"method":[51,83],"manipulating":[53,160],"robot's":[57],"dual":[58],"arms.":[59],"The":[60,138],"usually":[63],"asked":[64],"control":[66,82,110],"both":[67,97],"motion":[69],"force":[71],"objects.":[75,164],"We":[76],"propose":[77],"novel":[79],"concept":[80],"based":[84,116],"on":[85,117,143],"virtual":[87],"dynamics":[88],"model":[89,115],"(VDM),":[90],"which":[91],"enables":[92,122],"reaching":[100],"an":[102,128],"object":[103,129],"grasping":[105],"under":[107],"uniform":[109],"system.":[111],"Furthermore,":[112],"impedance":[114],"VDM":[119],"controller":[120,151],"also":[121],"safely":[126],"grasp":[127],"by":[130,159],"reducing":[131],"impact":[133],"at":[134,152],"contact":[136],"point.":[137],"proposed":[139],"algorithm":[140],"implemented":[142],"Mahru,":[147],"independent":[149],"joint":[150],"each":[153],"motor.":[154],"Its":[155],"performance":[156],"demonstrated":[158],"types":[162]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}