{"id":"https://openalex.org/W2048098497","doi":"https://doi.org/10.1109/iros.2013.6697123","title":"Grasping the object with collision avoidance of wheeled mobile manipulator in dynamic environments","display_name":"Grasping the object with collision avoidance of wheeled mobile manipulator in dynamic environments","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2048098497","doi":"https://doi.org/10.1109/iros.2013.6697123","mag":"2048098497"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6697123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697123","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/A5033714769","display_name":"Peiwen Wu","orcid":"https://orcid.org/0000-0002-4086-4706"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pei-Wen Wu","raw_affiliation_strings":["Department of Electrical Engineering, Taiwan","Dept. of Electr. Eng., NTU, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Taiwan","institution_ids":[]},{"raw_affiliation_string":"Dept. of Electr. Eng., NTU, Taipei, Taiwan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075050774","display_name":"Yu-Chi Lin","orcid":"https://orcid.org/0000-0001-5259-534X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu-Chi Lin","raw_affiliation_strings":["Department of Electrical Engineering, Taiwan","Dept. of Electr. Eng., NTU, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Taiwan","institution_ids":[]},{"raw_affiliation_string":"Dept. of Electr. Eng., NTU, Taipei, Taiwan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037678230","display_name":"Chia-Ming Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chia-Ming Wang","raw_affiliation_strings":["Department of Electrical Engineering, Taiwan","Dept. of Electr. Eng., NTU, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Taiwan","institution_ids":[]},{"raw_affiliation_string":"Dept. of Electr. Eng., NTU, Taipei, Taiwan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101925654","display_name":"Li\u2010Chen Fu","orcid":"https://orcid.org/0000-0002-6947-7646"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li-Chen Fu","raw_affiliation_strings":["Department of Electrical Engineering and Department of Computer Science and Information Engineering, Taiwan","Dept. of Electr. Eng., NTU, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Department of Computer Science and Information Engineering, Taiwan","institution_ids":[]},{"raw_affiliation_string":"Dept. of Electr. Eng., NTU, Taipei, Taiwan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9987999796867371,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9987000226974487,"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/mobile-manipulator","display_name":"Mobile manipulator","score":0.7164058089256287},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6811726093292236},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6484895944595337},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6211390495300293},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6017146706581116},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5507451891899109},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5012862682342529},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.49486464262008667},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.48622527718544006},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.47069051861763},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4704305827617645},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4550243020057678},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.44447600841522217},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.43419864773750305},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4218534827232361},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4160367250442505},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.33593225479125977},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2054784595966339}],"concepts":[{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.7164058089256287},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6811726093292236},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6484895944595337},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6211390495300293},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6017146706581116},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5507451891899109},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5012862682342529},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.49486464262008667},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.48622527718544006},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47069051861763},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4704305827617645},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4550243020057678},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44447600841522217},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.43419864773750305},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4218534827232361},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4160367250442505},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.33593225479125977},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2054784595966339},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2013.6697123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697123","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1502024436","https://openalex.org/W1993999483","https://openalex.org/W2007850612","https://openalex.org/W2019965290","https://openalex.org/W2082991751","https://openalex.org/W2099893201","https://openalex.org/W2111112078","https://openalex.org/W2116113712","https://openalex.org/W2125503755","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2258830303","https://openalex.org/W2552885458"],"related_works":["https://openalex.org/W2412971645","https://openalex.org/W3137303152","https://openalex.org/W2124302230","https://openalex.org/W2583679332","https://openalex.org/W1979819035","https://openalex.org/W2323794639","https://openalex.org/W1854444597","https://openalex.org/W2139206564","https://openalex.org/W4242231179","https://openalex.org/W3204696515"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"the":[3,14,19,37,45,51,56,61,75,90,93,97,104,107,112,121,124,128,132,163,176],"authors":[4],"proposed":[5],"a":[6,139,144,152],"local":[7,31,52,78],"motion":[8,32,53],"planner":[9,33,54],"with":[10,74,115,143],"robot":[11,100,129,142],"controller":[12],"of":[13,28,39,44,77,127],"mobile":[15,141],"manipulator":[16,146],"to":[17,60,72,130,174],"grasp":[18,175],"object":[20,177],"in":[21,66,178],"dynamic":[22,179],"environments":[23],"without":[24],"any":[25],"prior":[26],"knowledge":[27],"environments.":[29,180],"Our":[30],"is":[34,80,138,151,169],"based":[35],"on":[36],"concept":[38],"potential":[40,57,113],"field":[41],"and":[42,47,63,84,96,110,118,123,172],"composed":[43],"attractive":[46,62,83],"repulsive":[48,64,85],"vectors.":[49],"Then,":[50],"decides":[55],"vector":[58,114],"according":[59],"vectors":[65,86],"various":[67],"situations.":[68],"Also,":[69],"an":[70],"approach":[71],"deal":[73],"drawback":[76],"minima":[79],"contained.":[81],"The":[82,135],"are":[87],"generated":[88],"by":[89],"distances":[91],"between":[92],"target,":[94],"obstacles":[95],"manipulator.":[98],"For":[99],"control,":[101,117],"we":[102],"take":[103],"end-effector":[105],"as":[106,157],"control":[108],"point":[109],"apply":[111],"joint-level":[116],"moreover":[119],"evaluate":[120],"mobility":[122],"kinematic":[125],"constraints":[126],"modify":[131],"joint":[133],"velocities.":[134],"experiment":[136],"platform":[137],"wheeled":[140],"5-DOF":[145],"using":[147],"Softkinetic":[148],"DS325":[149],"which":[150],"close":[153],"range":[154],"RGB-D":[155],"camera":[156],"our":[158,167],"sensor.":[159],"Through":[160],"several":[161],"experiments,":[162],"results":[164],"show":[165],"that":[166],"framework":[168],"fast":[170],"enough":[171],"valid":[173]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
