{"id":"https://openalex.org/W4401416483","doi":"https://doi.org/10.1109/icra57147.2024.10610410","title":"Robust and Dexterous Dual-arm Tele-Cooperation using Adaptable Impedance Control","display_name":"Robust and Dexterous Dual-arm Tele-Cooperation using Adaptable Impedance Control","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416483","doi":"https://doi.org/10.1109/icra57147.2024.10610410"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610410","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610410","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.research.ed.ac.uk/files/416254919/Robust_and_Dexterous_BABARAHMATI_DOA31012024_AFV_CC_BY.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5088273102","display_name":"Keyhan Kouhkiloui Babarahmati","orcid":null},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Keyhan Kouhkiloui Babarahmati","raw_affiliation_strings":["University of Edinburgh,School of Informatics,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Edinburgh,School of Informatics,UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041132510","display_name":"Mohammadreza Kasaei","orcid":"https://orcid.org/0000-0003-4932-1457"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mohammadreza Kasaei","raw_affiliation_strings":["University of Edinburgh,School of Informatics,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Edinburgh,School of Informatics,UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033685059","display_name":"Carlo Tiseo","orcid":"https://orcid.org/0000-0002-2944-6140"},"institutions":[{"id":"https://openalex.org/I162608824","display_name":"University of Sussex","ror":"https://ror.org/00ayhx656","country_code":"GB","type":"education","lineage":["https://openalex.org/I162608824"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Carlo Tiseo","raw_affiliation_strings":["University of Sussex,School of Engineering and Informatics,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Sussex,School of Engineering and Informatics,UK","institution_ids":["https://openalex.org/I162608824"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082553836","display_name":"Michael Mistry","orcid":"https://orcid.org/0000-0003-3979-922X"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Michael Mistry","raw_affiliation_strings":["University of Edinburgh,School of Informatics,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Edinburgh,School of Informatics,UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069715982","display_name":"Sethu Vijayakumar","orcid":"https://orcid.org/0000-0003-0649-7241"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sethu Vijayakumar","raw_affiliation_strings":["University of Edinburgh,School of Informatics,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Edinburgh,School of Informatics,UK","institution_ids":["https://openalex.org/I98677209"]}]}],"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":true,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"17337","last_page":"17343"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9995999932289124,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9995999932289124,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.995199978351593,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.6186245083808899},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5933987498283386},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5890130996704102},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.47658225893974304},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.43617311120033264},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42358797788619995},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35033392906188965},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21969109773635864},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1812562644481659},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.17326170206069946}],"concepts":[{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.6186245083808899},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5933987498283386},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5890130996704102},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.47658225893974304},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.43617311120033264},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42358797788619995},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35033392906188965},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21969109773635864},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1812562644481659},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.17326170206069946},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra57147.2024.10610410","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610410","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.ed.ac.uk:publications/1d0744d5-447a-4e5a-a884-e1ed35db8f17","is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.11820/1d0744d5-447a-4e5a-a884-e1ed35db8f17","pdf_url":"https://www.research.ed.ac.uk/files/416254919/Robust_and_Dexterous_BABARAHMATI_DOA31012024_AFV_CC_BY.pdf","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Kouhkiloui Babarahmati, K, Kasaei, M, Tiseo, C, Mistry, M & Vijayakumar, S 2024, Robust and dexterous dual-arm tele-cooperation using adaptable Impedance Control. in 2024 IEEE International Conference on Robotics and Automation. Proceedings of the IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers, pp. 17337-17343, 2024 IEEE International Conference on Robotics and Automation, Yokohama, Japan, 13/05/24. https://doi.org/10.1109/ICRA57147.2024.10610410","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:figshare.com:article/25199801","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Robust_and_dexterous_dual-arm_tele-cooperation_using_adaptable_impedance_control/25199801","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference contribution"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/1d0744d5-447a-4e5a-a884-e1ed35db8f17","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/1d0744d5-447a-4e5a-a884-e1ed35db8f17","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Kouhkiloui Babarahmati, K, Kasaei, M, Tiseo, C, Mistry, M & Vijayakumar, S 2024, Robust and dexterous dual-arm tele-cooperation using adaptable Impedance Control. in 2024 IEEE International Conference on Robotics and Automation. Proceedings of the IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers, pp. 17337-17343, 2024 IEEE International Conference on Robotics and Automation, Yokohama, Japan, 13/05/24. https://doi.org/10.1109/ICRA57147.2024.10610410","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:publications/1d0744d5-447a-4e5a-a884-e1ed35db8f17","is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.11820/1d0744d5-447a-4e5a-a884-e1ed35db8f17","pdf_url":"https://www.research.ed.ac.uk/files/416254919/Robust_and_Dexterous_BABARAHMATI_DOA31012024_AFV_CC_BY.pdf","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Kouhkiloui Babarahmati, K, Kasaei, M, Tiseo, C, Mistry, M & Vijayakumar, S 2024, Robust and dexterous dual-arm tele-cooperation using adaptable Impedance Control. in 2024 IEEE International Conference on Robotics and Automation. Proceedings of the IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers, pp. 17337-17343, 2024 IEEE International Conference on Robotics and Automation, Yokohama, Japan, 13/05/24. https://doi.org/10.1109/ICRA57147.2024.10610410","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320313467","display_name":"Alan Turing Institute","ror":"https://ror.org/035dkdb55"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401416483.pdf","grobid_xml":"https://content.openalex.org/works/W4401416483.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W1967377907","https://openalex.org/W2011833550","https://openalex.org/W2045527384","https://openalex.org/W2107799372","https://openalex.org/W2111528514","https://openalex.org/W2140020305","https://openalex.org/W2142380406","https://openalex.org/W2296039882","https://openalex.org/W2473247400","https://openalex.org/W2517641405","https://openalex.org/W2562619897","https://openalex.org/W2727874355","https://openalex.org/W2769033888","https://openalex.org/W2795550549","https://openalex.org/W2897811721","https://openalex.org/W2968889775","https://openalex.org/W3009829782","https://openalex.org/W3044355296","https://openalex.org/W3082025662","https://openalex.org/W3087447627","https://openalex.org/W3093481236","https://openalex.org/W3109439182","https://openalex.org/W3165399594","https://openalex.org/W3168623150","https://openalex.org/W3207954611","https://openalex.org/W4245991817","https://openalex.org/W4293090650"],"related_works":["https://openalex.org/W2770593030","https://openalex.org/W3154990682","https://openalex.org/W2560201613","https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W4295916778","https://openalex.org/W2112995122","https://openalex.org/W2165087119"],"abstract_inverted_index":{"In":[0,81],"recent":[1],"years,":[2],"the":[3,27,49,87,119,132,138,141,144,169,177,188,200],"need":[4],"for":[5,94,154],"robots":[6],"to":[7,13,45,56,58,90,179],"transition":[8],"from":[9],"isolated":[10],"industrial":[11],"tasks":[12,102],"shared":[14],"environments,":[15,186],"including":[16],"human-robot":[17],"collaboration":[18],"and":[19,52,96,116,124,137,159,187,202],"teleoperation,":[20],"has":[21],"become":[22],"increasingly":[23],"evident.":[24],"Building":[25],"on":[26,72],"foundation":[28],"of":[29,54,121,134,143,172,190,204],"Fractal":[30],"Impedance":[31],"Control":[32],"(FIC)":[33],"introduced":[34],"in":[35,77,156,183],"our":[36,66,78,135],"previous":[37],"work,":[38],"this":[39,82],"paper":[40],"presents":[41],"a":[42,109,191],"novel":[43],"extension":[44],"dualarm":[46],"tele-cooperation,":[47],"leveraging":[48],"non-linear":[50],"stiffness":[51],"passivity":[53],"FIC":[55,88,145,173],"adapt":[57],"diverse":[59],"cooperative":[60],"scenarios.":[61],"Unlike":[62],"traditional":[63,148],"impedance":[64,149],"controllers,":[65,150],"approach":[67,146],"ensures":[68],"stability":[69],"without":[70,103],"relying":[71],"energy":[73],"tanks,":[74],"as":[75],"demonstrated":[76],"prior":[79],"research.":[80],"paper,":[83],"we":[84,130],"further":[85],"extend":[86],"framework":[89],"bimanual":[91],"operations,":[92],"allowing":[93],"stable":[95],"smooth":[97],"switching":[98],"between":[99],"different":[100],"dynamic":[101],"gain":[104],"tuning.":[105],"We":[106],"also":[107],"introduce":[108],"telemanipulation":[110],"architecture":[111],"that":[112],"offers":[113],"higher":[114],"transparency":[115],"dexterity,":[117],"addressing":[118],"challenges":[120],"signal":[122],"latency":[123],"low-bandwidth":[125],"communication.":[126],"Through":[127],"extensive":[128],"experiments,":[129],"validate":[131],"robustness":[133,201],"method":[136],"results":[139],"confirm":[140],"advantages":[142],"over":[147],"showcasing":[151],"its":[152],"potential":[153],"applications":[155],"planetary":[157],"exploration":[158],"other":[160],"scenarios":[161],"requiring":[162],"dexterous":[163],"telemanipulation.":[164],"This":[165],"paper\u2019s":[166],"contributions":[167],"include":[168],"seamless":[170],"integration":[171],"into":[174],"multi-arm":[175],"systems,":[176],"ability":[178],"perform":[180],"robust":[181],"interactions":[182],"highly":[184],"variable":[185],"provision":[189],"comprehensive":[192],"comparison":[193],"with":[194],"competing":[195],"approaches,":[196],"thereby":[197],"significantly":[198],"enhancing":[199],"adaptability":[203],"robotic":[205],"systems.":[206]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}