{"id":"https://openalex.org/W1994908787","doi":"https://doi.org/10.1109/icra.2013.6630565","title":"Dual arm estimation for coordinated bimanual manipulation","display_name":"Dual arm estimation for coordinated bimanual manipulation","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W1994908787","doi":"https://doi.org/10.1109/icra.2013.6630565","mag":"1994908787"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6630565","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630565","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","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/A5083044232","display_name":"Paul D. N. Hebert","orcid":"https://orcid.org/0000-0002-3081-6700"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paul Hebert","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080204664","display_name":"Nicolas Hudson","orcid":"https://orcid.org/0000-0002-4931-9659"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicolas Hudson","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101807671","display_name":"Jeremy Ma","orcid":"https://orcid.org/0000-0002-5625-4152"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeremy Ma","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002930599","display_name":"Joel W. Burdick","orcid":"https://orcid.org/0000-0002-3091-540X"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joel W. Burdick","raw_affiliation_strings":["California Institute of Technology, Pasadena, CA, USA","California Institute of Technology Pasadena CA USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"California Institute of Technology Pasadena CA USA","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"120","last_page":"125"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9988999962806702,"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/computer-science","display_name":"Computer science","score":0.6931799650192261},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6607615947723389},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.6410816311836243},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6125799417495728},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5965837240219116},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5679572224617004},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5672283172607422},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5667247176170349},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5527594685554504},{"id":"https://openalex.org/keywords/kinesthetic-learning","display_name":"Kinesthetic learning","score":0.5233380198478699},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5049136281013489},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.485617071390152},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.464241623878479},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4436802268028259},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4379028379917145},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18650028109550476},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09965956211090088},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09887170791625977}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6931799650192261},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6607615947723389},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.6410816311836243},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6125799417495728},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5965837240219116},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5679572224617004},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5672283172607422},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5667247176170349},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5527594685554504},{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.5233380198478699},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5049136281013489},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.485617071390152},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.464241623878479},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4436802268028259},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4379028379917145},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18650028109550476},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09965956211090088},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09887170791625977},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C145420912","wikidata":"https://www.wikidata.org/wiki/Q853077","display_name":"Mathematics education","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2013.6630565","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630565","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:authors.library.caltech.edu:73835","is_oa":false,"landing_page_url":"https://authors.library.caltech.edu/73835/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book Section"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.709.1219","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.709.1219","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://paulhebert.ca/papers/icra_2013_2.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309398","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320332375","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W30795634","https://openalex.org/W1564897360","https://openalex.org/W2019501527","https://openalex.org/W2020934227","https://openalex.org/W2029977228","https://openalex.org/W2035557456","https://openalex.org/W2036299665","https://openalex.org/W2076593519","https://openalex.org/W2097320252","https://openalex.org/W2108134330","https://openalex.org/W2112725185","https://openalex.org/W2113372892","https://openalex.org/W2119344328","https://openalex.org/W2131752723","https://openalex.org/W2133672972","https://openalex.org/W2134629106","https://openalex.org/W2138351865","https://openalex.org/W2143320034","https://openalex.org/W2146447720","https://openalex.org/W2147168033","https://openalex.org/W2149606722","https://openalex.org/W2162788266","https://openalex.org/W2163645408","https://openalex.org/W2165375872","https://openalex.org/W2167542173","https://openalex.org/W2524610172","https://openalex.org/W3217246742","https://openalex.org/W6655473528"],"related_works":["https://openalex.org/W3111440524","https://openalex.org/W2558272010","https://openalex.org/W2068552404","https://openalex.org/W4392899229","https://openalex.org/W2921166921","https://openalex.org/W4385174651","https://openalex.org/W3162087156","https://openalex.org/W1597792207","https://openalex.org/W2103062922","https://openalex.org/W2162299404"],"abstract_inverted_index":{"This":[0],"paper":[1],"develops":[2],"an":[3,15,69],"estimation":[4],"framework":[5,64,86],"for":[6],"sensor-guided":[7],"dual-arm":[8],"manipulation":[9],"of":[10,38,98,121],"a":[11,109],"rigid":[12],"object.":[13,34],"Using":[14],"unscented":[16],"Kalman":[17],"Filter":[18],"(UKF),":[19],"the":[20,31,39,46,50,55,63,68,74,84,95,99,116],"approach":[21],"combines":[22],"both":[23,30,49],"visual":[24,36],"and":[25,33,41,43,54,72,94],"kinesthetic":[26],"information":[27],"to":[28,65],"track":[29],"manipulators":[32],"From":[35],"updates":[37],"object":[40],"manipulators,":[42],"tactile":[44],"updates,":[45],"method":[47],"estimates":[48],"robot's":[51],"internal":[52],"state":[53,75],"object's":[56],"pose.":[57],"Nonlinear":[58],"constraints":[59],"are":[60,80,113],"incorporated":[61],"into":[62],"deal":[66],"with":[67,104],"additional":[70],"arm":[71,90,102],"ensure":[73],"is":[76],"consistent.":[77],"Two":[78],"frameworks":[79],"compared":[81],"in":[82,92],"which":[83],"first":[85],"run":[87],"two":[88],"single":[89],"filters":[91],"parallel":[93],"second":[96],"consists":[97],"augment":[100],"dual":[101,122],"filter":[103],"nonlinear":[105],"constraints.":[106],"Experiments":[107],"on":[108],"wheel":[110],"changing":[111],"task":[112],"demonstrated":[114],"using":[115],"DARPA":[117],"ARM-S":[118],"system,":[119],"consisting":[120],"Barrett-":[123],"WAM":[124],"manipulators.":[125]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}