{"id":"https://openalex.org/W2967003468","doi":"https://doi.org/10.1109/icra.2019.8794171","title":"Task-Based Design of Ad-hoc Modular Manipulators","display_name":"Task-Based Design of Ad-hoc Modular Manipulators","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2967003468","doi":"https://doi.org/10.1109/icra.2019.8794171","mag":"2967003468"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794171","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794171","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","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/A5042341230","display_name":"Thais Campos","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thais Campos","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca NY, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020203532","display_name":"Jeevana Priya Inala","orcid":"https://orcid.org/0000-0003-1843-589X"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeevana Priya Inala","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010786661","display_name":"Armando Solar-Lezama","orcid":"https://orcid.org/0000-0001-7604-8252"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Armando Solar-Lezama","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020074157","display_name":"Hadas Kress\u2010Gazit","orcid":"https://orcid.org/0000-0002-7754-1011"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hadas Kress-Gazit","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca NY, USA","institution_ids":["https://openalex.org/I205783295"]}]}],"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":13,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6058","last_page":"6064"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9908999800682068,"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":0.9872000217437744,"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/modular-design","display_name":"Modular design","score":0.8653380274772644},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.770033061504364},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7485313415527344},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.644081711769104},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5271838903427124},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.47081881761550903},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.4697195589542389},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.42952680587768555},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36949393153190613},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3519533574581146},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2567712068557739},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.22904443740844727},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.16665461659431458},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14548060297966003},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.09631067514419556},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.06460148096084595}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8653380274772644},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.770033061504364},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7485313415527344},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.644081711769104},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5271838903427124},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.47081881761550903},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.4697195589542389},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.42952680587768555},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36949393153190613},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3519533574581146},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2567712068557739},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.22904443740844727},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.16665461659431458},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14548060297966003},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.09631067514419556},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.06460148096084595},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8794171","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794171","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8199999928474426,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W152243833","https://openalex.org/W1496777766","https://openalex.org/W1513316543","https://openalex.org/W1971086298","https://openalex.org/W2021090380","https://openalex.org/W2038194174","https://openalex.org/W2088360709","https://openalex.org/W2098613749","https://openalex.org/W2101392651","https://openalex.org/W2116979636","https://openalex.org/W2122597423","https://openalex.org/W2134945406","https://openalex.org/W2145386918","https://openalex.org/W2149236697","https://openalex.org/W2149841830","https://openalex.org/W2408862423","https://openalex.org/W2561621263","https://openalex.org/W2735953291","https://openalex.org/W2785628571","https://openalex.org/W2963977731","https://openalex.org/W2997049506","https://openalex.org/W4241616303","https://openalex.org/W6630716193","https://openalex.org/W6747636707"],"related_works":["https://openalex.org/W2720417647","https://openalex.org/W4225163935","https://openalex.org/W86933508","https://openalex.org/W2765089336","https://openalex.org/W2663455904","https://openalex.org/W2313074614","https://openalex.org/W2130464959","https://openalex.org/W2166742878","https://openalex.org/W2883992449","https://openalex.org/W2786688135"],"abstract_inverted_index":{"The":[0],"great":[1],"promise":[2],"of":[3,57,109],"modular":[4,44],"robots":[5,45],"is":[6,23,64],"the":[7,16,39,74,83,94],"ability":[8],"to":[9,35,66,101],"create":[10],"on":[11,20,54],"demand":[12],"robots;":[13],"however,":[14],"choosing":[15],"\u201cright\u201d":[17],"design":[18,40,80],"based":[19],"a":[21,25,47,79,102,107],"task":[22,48],"still":[24],"challenging":[26],"problem.":[27],"In":[28,50],"this":[29],"paper,":[30],"we":[31,52],"present":[32],"an":[33],"approach":[34,63,100],"automatically":[36],"synthesize":[37],"both":[38],"and":[41,77],"control":[42],"for":[43,88],"from":[46],"description.":[49],"particular,":[51],"focus":[53],"manipulators":[55],"composed":[56],"one":[58],"degree-of-freedom":[59],"(DoF)":[60],"modules.":[61],"Our":[62],"able":[65],"handle":[67],"partially":[68],"infeasible":[69,75],"tasks":[70],"by":[71],"either":[72],"identifying":[73],"part":[76,85],"finding":[78],"that":[81,91],"satisfies":[82],"feasible":[84],"or":[86],"searching":[87],"multiple":[89],"designs":[90],"together":[92],"satisfy":[93],"entire":[95],"task.":[96],"We":[97],"compare":[98],"our":[99],"baseline":[103],"genetic":[104],"algorithm":[105],"in":[106],"series":[108],"increasingly":[110],"complex":[111],"environments.":[112]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}