{"id":"https://openalex.org/W2045616829","doi":"https://doi.org/10.1109/icra.2014.6907099","title":"Object-centered hybrid reasoning for whole-body mobile manipulation","display_name":"Object-centered hybrid reasoning for whole-body mobile manipulation","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2045616829","doi":"https://doi.org/10.1109/icra.2014.6907099","mag":"2045616829"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907099","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907099","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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/A5090822920","display_name":"Daniel Leidner","orcid":"https://orcid.org/0000-0001-5091-7122"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Leidner","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014764259","display_name":"Alexander Dietrich","orcid":"https://orcid.org/0000-0003-3463-5074"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Dietrich","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005223956","display_name":"Florian Schmidt","orcid":"https://orcid.org/0000-0001-5126-723X"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Florian Schmidt","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110827678","display_name":"Christoph Borst","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Borst","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080814983","display_name":"Alin Albu\u2010Sch\u00e4ffer","orcid":"https://orcid.org/0000-0001-5343-9074"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alin Albu-Schaffer","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.5661,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":{"value":0.96586753,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1828","last_page":"1835"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9957000017166138,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9925000071525574,"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/computer-science","display_name":"Computer science","score":0.7820239067077637},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7316493988037109},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6422433853149414},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6227454543113708},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5795644521713257},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5166919231414795},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5130482912063599},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5041433572769165},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.4988107681274414},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.48409974575042725},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42180508375167847},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4190117120742798},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12838920950889587},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.09916606545448303},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.08598551154136658}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7820239067077637},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7316493988037109},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6422433853149414},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6227454543113708},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5795644521713257},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5166919231414795},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5130482912063599},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5041433572769165},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.4988107681274414},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.48409974575042725},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42180508375167847},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4190117120742798},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12838920950889587},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.09916606545448303},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.08598551154136658},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2014.6907099","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907099","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:88960","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907099>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.4399999976158142,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W419612048","https://openalex.org/W1494534478","https://openalex.org/W1535452228","https://openalex.org/W1571513871","https://openalex.org/W1964502729","https://openalex.org/W1969483458","https://openalex.org/W1972894079","https://openalex.org/W1982547038","https://openalex.org/W2030929340","https://openalex.org/W2031291740","https://openalex.org/W2050815310","https://openalex.org/W2056864430","https://openalex.org/W2065261714","https://openalex.org/W2070683816","https://openalex.org/W2072763216","https://openalex.org/W2080542323","https://openalex.org/W2096636372","https://openalex.org/W2099870233","https://openalex.org/W2110160528","https://openalex.org/W2110612452","https://openalex.org/W2112474089","https://openalex.org/W2129066514","https://openalex.org/W2138346348","https://openalex.org/W2140873064","https://openalex.org/W2143936212","https://openalex.org/W2161414194","https://openalex.org/W2164395348","https://openalex.org/W2165745738","https://openalex.org/W2169217027","https://openalex.org/W2185640870","https://openalex.org/W3101355526","https://openalex.org/W3103374988","https://openalex.org/W3147272689","https://openalex.org/W6614394825","https://openalex.org/W6634387280","https://openalex.org/W6686703745","https://openalex.org/W6903373631"],"related_works":["https://openalex.org/W2051058708","https://openalex.org/W1494268238","https://openalex.org/W154868527","https://openalex.org/W1983207144","https://openalex.org/W2490706771","https://openalex.org/W2480116122","https://openalex.org/W4255576661","https://openalex.org/W1516574938","https://openalex.org/W2132921321","https://openalex.org/W2100910774"],"abstract_inverted_index":{"Many":[0],"houseworks":[1],"such":[2,49],"as":[3],"cleaning":[4],"the":[5,9,31,37,45,56,60,70,99,103,122],"floor":[6],"or":[7],"wiping":[8],"windows":[10],"require":[11],"to":[12,21,42,90],"manipulate":[13],"tools":[14],"over":[15],"wide":[16],"areas.":[17],"It":[18],"is":[19,72,108],"necessary":[20],"move":[22],"along":[23],"a":[24,28,50,80],"path":[25],"while":[26],"manipulating":[27],"tool":[29],"with":[30],"whole":[32],"body":[33],"and":[34,59,86,110],"applying":[35],"exactly":[36],"right":[38],"amount":[39],"of":[40,69,82],"force":[41,88],"successfully":[43],"accomplish":[44],"task.":[46],"So":[47],"mastering":[48],"challenge":[51],"demands":[52],"detailed":[53],"knowledge":[54],"about":[55,65],"involved":[57,101],"objects":[58,100],"underlying":[61],"process":[62],"models.":[63],"Reasoning":[64],"an":[66,105,118],"appropriate":[67,106],"parameterization":[68],"task":[71],"thereby":[73],"essential.":[74],"In":[75],"this":[76],"paper":[77],"we":[78],"propose":[79],"combination":[81],"object-centered":[83],"hybrid":[84],"reasoning":[85],"compliant":[87],"control":[89],"solve":[91],"complex":[92],"whole-body":[93],"mobile":[94],"manipulation":[95],"issues.":[96],"Depending":[97],"on":[98,121],"in":[102,117],"task,":[104],"controller":[107],"selected":[109],"automatically":[111],"parameterized.":[112],"The":[113],"methods":[114],"are":[115],"validated":[116],"elaborate":[119],"experiment":[120],"humanoid":[123],"robot":[124],"Rollin'":[125],"Justin.":[126]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}