{"id":"https://openalex.org/W1970741652","doi":"https://doi.org/10.1109/iros.2013.6696496","title":"From human motion analysis to whole-body control of a dual-arm robot for pick-and-place tasks","display_name":"From human motion analysis to whole-body control of a dual-arm robot for pick-and-place tasks","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W1970741652","doi":"https://doi.org/10.1109/iros.2013.6696496","mag":"1970741652"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696496","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696496","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5019692184","display_name":"Sung-Kyun Kim","orcid":"https://orcid.org/0000-0003-2460-1153"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sung-Kyun Kim","raw_affiliation_strings":["Interaction and Robotics Research Center in Korea, Institute of Science and Technology (KIST), Korea","Interaction & Robot. Res. Center, Korea Inst. of Sci. & Technol. (KIST), Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interaction and Robotics Research Center in Korea, Institute of Science and Technology (KIST), Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Interaction & Robot. Res. Center, Korea Inst. of Sci. & Technol. (KIST), Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100429216","display_name":"Donghyun Lee","orcid":"https://orcid.org/0000-0003-4554-5488"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dong-hyun Lee","raw_affiliation_strings":["Interaction and Robotics Research Center in Korea, Institute of Science and Technology (KIST), Korea","Interaction & Robot. Res. Center, Korea Inst. of Sci. & Technol. (KIST), Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interaction and Robotics Research Center in Korea, Institute of Science and Technology (KIST), Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Interaction & Robot. Res. Center, Korea Inst. of Sci. & Technol. (KIST), Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024861042","display_name":"Seokmin Hong","orcid":"https://orcid.org/0000-0002-2058-7051"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]},{"id":"https://openalex.org/I88761825","display_name":"Korea University of Science and Technology","ror":"https://ror.org/000qzf213","country_code":"KR","type":"education","lineage":["https://openalex.org/I88761825"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seokmin Hong","raw_affiliation_strings":["Interaction and Robotics Research Center in Korea, Institute of Science and Technology (KIST), Korea","Interaction & Robot. Res. Center, Korea Univ. of Sci. & Technol. (UST), South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interaction and Robotics Research Center in Korea, Institute of Science and Technology (KIST), Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Interaction & Robot. Res. Center, Korea Univ. of Sci. & Technol. (UST), South Korea","institution_ids":["https://openalex.org/I88761825"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101939813","display_name":"Yonghwan Oh","orcid":"https://orcid.org/0000-0002-1109-305X"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yonghwan Oh","raw_affiliation_strings":["Interaction and Robotics Research Center in Korea, Institute of Science and Technology (KIST), Korea","Interaction & Robot. Res. Center, Korea Inst. of Sci. & Technol. (KIST), Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interaction and Robotics Research Center in Korea, Institute of Science and Technology (KIST), Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Interaction & Robot. Res. Center, Korea Inst. of Sci. & Technol. (KIST), Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014100305","display_name":"Sang\u2013Rok Oh","orcid":"https://orcid.org/0000-0002-1102-031X"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]},{"id":"https://openalex.org/I88761825","display_name":"Korea University of Science and Technology","ror":"https://ror.org/000qzf213","country_code":"KR","type":"education","lineage":["https://openalex.org/I88761825"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sang-Rok Oh","raw_affiliation_strings":["Korea University of Science and Technology (UST), Institute of Science and Technology (KIST), Korea","Interaction & Robot. Res. Center, Korea Inst. of Sci. & Technol. (KIST), Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea University of Science and Technology (UST), Institute of Science and Technology (KIST), Korea","institution_ids":["https://openalex.org/I88761825"]},{"raw_affiliation_string":"Interaction & Robot. Res. Center, Korea Inst. of Sci. & Technol. (KIST), Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6287,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.59618967,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"1","issue":null,"first_page":"1155","last_page":"1161"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9994000196456909,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9977999925613403,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6580126285552979},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6410598754882812},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6232835054397583},{"id":"https://openalex.org/keywords/polygon","display_name":"Polygon (computer graphics)","score":0.6009082794189453},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5719988942146301},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.5383504629135132},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5206186771392822},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.515866219997406},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4764328896999359},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4724312722682953},{"id":"https://openalex.org/keywords/human-motion","display_name":"Human motion","score":0.43140920996665955},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4278479218482971},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.426283597946167},{"id":"https://openalex.org/keywords/center-of-mass","display_name":"Center of mass (relativistic)","score":0.42404836416244507},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3716059625148773},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36802124977111816},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.367147296667099},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34067922830581665},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3272440433502197}],"concepts":[{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6580126285552979},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6410598754882812},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6232835054397583},{"id":"https://openalex.org/C190694206","wikidata":"https://www.wikidata.org/wiki/Q3276654","display_name":"Polygon (computer graphics)","level":3,"score":0.6009082794189453},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5719988942146301},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.5383504629135132},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5206186771392822},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.515866219997406},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4764328896999359},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4724312722682953},{"id":"https://openalex.org/C2986578859","wikidata":"https://www.wikidata.org/wiki/Q657632","display_name":"Human motion","level":3,"score":0.43140920996665955},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4278479218482971},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.426283597946167},{"id":"https://openalex.org/C36185635","wikidata":"https://www.wikidata.org/wiki/Q17006925","display_name":"Center of mass (relativistic)","level":3,"score":0.42404836416244507},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3716059625148773},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36802124977111816},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.367147296667099},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34067922830581665},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3272440433502197},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C47513753","wikidata":"https://www.wikidata.org/wiki/Q3502299","display_name":"Energy\u2013momentum relation","level":2,"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/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2013.6696496","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696496","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.44999998807907104,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W43975913","https://openalex.org/W1967394882","https://openalex.org/W1974097453","https://openalex.org/W1983910605","https://openalex.org/W1992696065","https://openalex.org/W1998052800","https://openalex.org/W2001040169","https://openalex.org/W2025616942","https://openalex.org/W2060696844","https://openalex.org/W2100756547","https://openalex.org/W2106863585","https://openalex.org/W2109983327","https://openalex.org/W2114872772","https://openalex.org/W2117425572","https://openalex.org/W2121500398","https://openalex.org/W2134075441","https://openalex.org/W2141377539","https://openalex.org/W2143217500","https://openalex.org/W2151522724","https://openalex.org/W2167542173","https://openalex.org/W2565210018","https://openalex.org/W6601771435"],"related_works":["https://openalex.org/W3044789842","https://openalex.org/W76740741","https://openalex.org/W2281483528","https://openalex.org/W2386384541","https://openalex.org/W2979988975","https://openalex.org/W2017618840","https://openalex.org/W1820906482","https://openalex.org/W2997729061","https://openalex.org/W2598440633","https://openalex.org/W1958208964"],"abstract_inverted_index":{"Human's":[0],"action":[1],"strategy":[2],"is":[3,13,59,75,86],"a":[4,72,78],"good":[5],"source":[6],"of":[7,37,40],"robot":[8,74],"controller":[9,70],"design.":[10],"For":[11],"there":[12],"no":[14],"decisive":[15],"criterion":[16],"on":[17,34],"balance":[18,67],"control":[19],"during":[20],"manipulation":[21],"tasks,":[22],"human":[23],"motion":[24],"data":[25],"are":[26],"obtained":[27],"and":[28,68,80,90],"analyzed":[29],"in":[30,77],"this":[31],"paper.":[32],"Based":[33],"the":[35,38,52,55,63],"observation":[36],"center":[39],"mass":[41],"(CoM)":[42],"being":[43],"proportional":[44],"to":[45],"target":[46],"object":[47],"distance":[48],"but":[49],"limited":[50],"inside":[51],"supporting":[53],"polygon,":[54],"bound-proportional":[56],"CoM":[57,64],"planner":[58],"proposed.":[60],"Along":[61],"with":[62],"planner,":[65],"whole-body":[66],"grasping":[69],"for":[71,88],"dualarm":[73],"suggested":[76],"simple":[79],"computationally":[81],"efficient":[82],"structure.":[83],"Dynamic":[84],"simulation":[85],"conducted":[87],"validation,":[89],"showed":[91],"competent":[92],"results.":[93]},"counts_by_year":[{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}