{"id":"https://openalex.org/W4383108219","doi":"https://doi.org/10.1109/icra48891.2023.10160389","title":"Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications","display_name":"Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108219","doi":"https://doi.org/10.1109/icra48891.2023.10160389"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160389","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160389","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5046447340","display_name":"Enrico Mingo Hoffman","orcid":"https://orcid.org/0000-0003-2063-7490"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Enrico Mingo Hoffman","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163","Leonardo S.p.A., Viale Europa, Nerviano, Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Leonardo S.p.A., Viale Europa, Nerviano, Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016982993","display_name":"Arturo Laurenzi","orcid":"https://orcid.org/0000-0002-9065-1266"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arturo Laurenzi","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013273202","display_name":"Francesco Ruscelli","orcid":"https://orcid.org/0000-0002-4936-8389"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Ruscelli","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103192544","display_name":"Luca Rossini","orcid":"https://orcid.org/0000-0002-2114-3823"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Rossini","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057285974","display_name":"Lorenzo Baccelliere","orcid":"https://orcid.org/0000-0002-3396-328X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Baccelliere","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047211683","display_name":"Davide Antonucci","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Davide Antonucci","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017451540","display_name":"Alessio Margan","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessio Margan","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030853614","display_name":"Paolo Guria","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Guria","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045706653","display_name":"Marco Migliorini","orcid":"https://orcid.org/0009-0005-4140-2094"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Migliorini","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022496809","display_name":"Stefano Cordasco","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Stefano Cordasco","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079929244","display_name":"Gennaro Raiola","orcid":"https://orcid.org/0000-0003-1481-1106"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gennaro Raiola","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163","Leonardo S.p.A., Viale Europa, Nerviano, Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Leonardo S.p.A., Viale Europa, Nerviano, Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072560467","display_name":"Luca Muratore","orcid":"https://orcid.org/0000-0002-1265-3370"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Muratore","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004562980","display_name":"Joaqu\u00edn Estremera Rodrigo","orcid":null},"institutions":[{"id":"https://openalex.org/I863118367","display_name":"GMV Innovating Solutions (Spain)","ror":"https://ror.org/0001w5c47","country_code":"ES","type":"company","lineage":["https://openalex.org/I863118367"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Joaqu\u00edn Estremera Rodrigo","raw_affiliation_strings":["GMV,Madrid,Spain,28760"],"affiliations":[{"raw_affiliation_string":"GMV,Madrid,Spain,28760","institution_ids":["https://openalex.org/I863118367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086567902","display_name":"A. Rusconi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210127540","display_name":"Nerviano Medical Sciences","ror":"https://ror.org/038mzt421","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210127540"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Rusconi","raw_affiliation_strings":["Leonardo S.p.A., Viale Europa,Nerviano,Italy,20014"],"affiliations":[{"raw_affiliation_string":"Leonardo S.p.A., Viale Europa,Nerviano,Italy,20014","institution_ids":["https://openalex.org/I4210127540"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110427724","display_name":"Guido Sangiovanni","orcid":null},"institutions":[{"id":"https://openalex.org/I4210127540","display_name":"Nerviano Medical Sciences","ror":"https://ror.org/038mzt421","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210127540"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Guido Sangiovanni","raw_affiliation_strings":["Leonardo S.p.A., Viale Europa,Nerviano,Italy,20014"],"affiliations":[{"raw_affiliation_string":"Leonardo S.p.A., Viale Europa,Nerviano,Italy,20014","institution_ids":["https://openalex.org/I4210127540"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos G. Tsagarakis","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Humanoids &#x0026; Human Centred Mechatronics Lab.,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":16,"corresponding_author_ids":["https://openalex.org/A5046447340"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":1.3235,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.83887161,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"11887","last_page":"11893"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9988999962806702,"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"}},"topics":[{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9988999962806702,"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/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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9945999979972839,"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":0.6534802913665771},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.635105550289154},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5808526873588562},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5651030540466309},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5342171788215637},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5268479585647583},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5237690806388855},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4755646586418152},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.46502944827079773},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4436025619506836},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.43089720606803894},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4255257248878479},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4248999059200287},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3986130952835083},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3231474757194519},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2126152515411377},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19867777824401855},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17439228296279907},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15408802032470703},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1308414340019226}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6534802913665771},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.635105550289154},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5808526873588562},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5651030540466309},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5342171788215637},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5268479585647583},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5237690806388855},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4755646586418152},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.46502944827079773},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4436025619506836},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.43089720606803894},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4255257248878479},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4248999059200287},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3986130952835083},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3231474757194519},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2126152515411377},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19867777824401855},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17439228296279907},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15408802032470703},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1308414340019226},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160389","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160389","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6000000238418579,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320308980","display_name":"Entomological Society of America","ror":"https://ror.org/03awpb417"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1806088235","https://openalex.org/W2044460305","https://openalex.org/W2110762409","https://openalex.org/W2129817003","https://openalex.org/W2137647771","https://openalex.org/W2161636262","https://openalex.org/W2469668036","https://openalex.org/W2773291966","https://openalex.org/W2782864198","https://openalex.org/W2912365230","https://openalex.org/W2913201817","https://openalex.org/W2968694796","https://openalex.org/W3015991193","https://openalex.org/W3080662994","https://openalex.org/W3133320087","https://openalex.org/W3189001822","https://openalex.org/W4285085743","https://openalex.org/W6623540449","https://openalex.org/W6733939488"],"related_works":["https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W1253671258","https://openalex.org/W3134555460","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W4396731552","https://openalex.org/W2607470227","https://openalex.org/W2351331567","https://openalex.org/W2889305167"],"abstract_inverted_index":{"This":[0],"work":[1,102],"presents":[2],"the":[3,9,24,27,41,55,74,81,113,139],"computational":[4,47],"design":[5,48,115,142],"and":[6,34,49,94,108,116,127,143],"validation":[7,50,149],"of":[8,57,86,153],"Multi-Arm":[10],"Relocatable":[11],"Manipulator":[12],"(MARM),":[13],"a":[14,151],"three-limb":[15],"robot":[16,114],"for":[17,31,130,147],"space":[18],"applications,":[19],"with":[20,54,134],"particular":[21],"reference":[22],"to":[23,72,111],"MIRROR":[25],"(i.e.,":[26],"Multi-arm":[28],"Installation":[29],"Robot":[30],"Readying":[32],"ORUs":[33],"Reflectors)":[35],"use-case":[36],"scenario":[37],"as":[38,62,64],"proposed":[39],"by":[40,80],"European":[42],"Space":[43],"Agency.":[44],"A":[45],"holistic":[46],"pipeline":[51],"is":[52],"proposed,":[53],"aim":[56],"comparing":[58],"different":[59],"limb":[60,68],"designs,":[61],"well":[63],"ensuring":[65],"that":[66],"valid":[67],"candidates":[69],"enable":[70],"MARM":[71,141],"perform":[73],"complex":[75],"loco-manipulation":[76],"tasks":[77],"required.":[78],"Moti-vated":[79],"task":[82],"complexity":[83],"in":[84],"terms":[85],"kinematic":[87],"reachability,":[88],"(self)-collision":[89],"avoidance,":[90],"contact":[91],"wrench":[92],"limits,":[93],"motor":[95],"torque":[96],"limits":[97],"affecting":[98],"Earth":[99],"experiments,":[100],"this":[101],"leverages":[103],"on":[104,122],"multiple":[105],"state-of-art":[106],"planning":[107,121],"control":[109],"approaches":[110],"aid":[112],"validation.":[117],"These":[118],"include":[119],"sampling-based":[120],"manifolds,":[123],"non-linear":[124],"trajectory":[125],"optimization,":[126],"quadratic":[128],"programs":[129],"inverse":[131],"dynamics":[132],"computations":[133],"constraints.":[135],"Finally,":[136],"we":[137],"present":[138],"attained":[140],"conduct":[144],"preliminary":[145],"tests":[146],"hardware":[148],"through":[150],"set":[152],"lab":[154],"experiments.":[155]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
