{"id":"https://openalex.org/W2199757413","doi":"https://doi.org/10.1109/iros.2015.7353698","title":"Cooperative control of a serial-to-parallel structure using a virtual kinematic chain in a mobile dual-arm manipulation application","display_name":"Cooperative control of a serial-to-parallel structure using a virtual kinematic chain in a mobile dual-arm manipulation application","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2199757413","doi":"https://doi.org/10.1109/iros.2015.7353698","mag":"2199757413"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353698","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353698","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-179638","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017254188","display_name":"Yuquan Wang","orcid":"https://orcid.org/0000-0002-4032-4830"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Yuquan Wang","raw_affiliation_strings":["Computer Vision and Active Perception Lab., Royal Institute of Technology (KTH), Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab., Royal Institute of Technology (KTH), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060213000","display_name":"Christian Smith","orcid":"https://orcid.org/0000-0003-2078-8854"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Christian Smith","raw_affiliation_strings":["Computer Vision and Active Perception Lab., Royal Institute of Technology (KTH), Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab., Royal Institute of Technology (KTH), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066684950","display_name":"Yiannis Karayiannidis","orcid":"https://orcid.org/0000-0001-5129-342X"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]},{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Yiannis Karayiannidis","raw_affiliation_strings":["Computer Vision and Active Perception Lab., Royal Institute of Technology (KTH), Stockholm, Sweden","Department of Signal and Systems, Chalmers University of Technology, Gothenburg, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab., Royal Institute of Technology (KTH), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Department of Signal and Systems, Chalmers University of Technology, Gothenburg, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070754732","display_name":"Petter \u00d6gren","orcid":"https://orcid.org/0000-0002-7714-928X"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Petter Ogren","raw_affiliation_strings":["Computer Vision and Active Perception Lab., Royal Institute of Technology (KTH), Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab., Royal Institute of Technology (KTH), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6817,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.75187626,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2372","last_page":"2379"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9983000159263611,"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/kinematics","display_name":"Kinematics","score":0.8336464762687683},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.7294055223464966},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.7169104814529419},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.715185284614563},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5757988095283508},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5599481463432312},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5182104706764221},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4557478129863739},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.4532453119754791},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.45112907886505127},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.4447616636753082},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.43676140904426575},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4194793403148651},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4185316562652588},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41297653317451477},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34891200065612793},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24768024682998657},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15628111362457275},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11220711469650269},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06651413440704346}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8336464762687683},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.7294055223464966},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7169104814529419},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.715185284614563},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5757988095283508},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5599481463432312},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5182104706764221},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4557478129863739},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.4532453119754791},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.45112907886505127},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.4447616636753082},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.43676140904426575},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4194793403148651},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4185316562652588},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41297653317451477},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34891200065612793},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24768024682998657},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15628111362457275},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11220711469650269},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06651413440704346},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros.2015.7353698","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353698","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:DiVA.org:kth-179638","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-179638","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:publications.lib.chalmers.se:231091","is_oa":false,"landing_page_url":"http://publications.lib.chalmers.se/publication/231091-cooperative-control-of-a-serial-to-parallel-structure-using-a-virtual-kinematic-chain-in-a-mobile-du","pdf_url":null,"source":{"id":"https://openalex.org/S4377196470","display_name":"Chalmers Publication Library (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text.Article.Conference.PeerReviewed"},{"id":"pmh:oai:research.chalmers.se:231091","is_oa":false,"landing_page_url":"https://research.chalmers.se/en/publication/231091","pdf_url":null,"source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:DiVA.org:kth-179638","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-179638","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1545600592","https://openalex.org/W1564897360","https://openalex.org/W1972941263","https://openalex.org/W2007194284","https://openalex.org/W2023398310","https://openalex.org/W2026054764","https://openalex.org/W2039787549","https://openalex.org/W2049410986","https://openalex.org/W2053983794","https://openalex.org/W2077112415","https://openalex.org/W2086587468","https://openalex.org/W2098245461","https://openalex.org/W2113265921","https://openalex.org/W2155296698","https://openalex.org/W2161344171","https://openalex.org/W2169360335","https://openalex.org/W3217246742","https://openalex.org/W4240312492","https://openalex.org/W6660370748","https://openalex.org/W6669913550","https://openalex.org/W6675053590"],"related_works":["https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W2358666156","https://openalex.org/W1253671258","https://openalex.org/W2391892769","https://openalex.org/W3134555460","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W2004793478","https://openalex.org/W1880935057"],"abstract_inverted_index":{"In":[0],"the":[1,13,21,41,51,69,73,79,95],"future":[2],"mobile":[3,24],"dual-arm":[4],"robots":[5],"are":[6],"expected":[7],"to":[8,44,60,67,97,99],"perform":[9],"many":[10],"tasks.":[11],"Kinematically,":[12],"configuration":[14],"of":[15,40,53,72,77],"two":[16,80],"manipulators":[17,81],"that":[18],"branch":[19],"from":[20],"same":[22],"common":[23,70],"base":[25,42],"results":[26],"in":[27,47,112],"a":[28,48,62,89,113,118],"serial-to-parallel":[29],"kinematic":[30,35],"structure,":[31],"which":[32],"makes":[33],"inverse":[34],"computations":[36],"non-trivial.":[37],"The":[38,105],"motion":[39,71],"has":[43],"be":[45],"decided":[46],"trade-off,":[49],"taking":[50],"needs":[52],"both":[54,111],"arms":[55],"into":[56],"account.":[57],"We":[58],"propose":[59],"use":[61],"Virtual":[63],"Kinematic":[64],"Chain":[65],"(VKC)":[66],"specify":[68],"parallel":[74],"manipulators,":[75],"instead":[76],"using":[78],"kinematics":[82],"directly.":[83],"With":[84],"this":[85],"VKC,":[86],"we":[87],"formulate":[88],"constraint":[90],"based":[91],"programming":[92],"solution":[93],"for":[94],"robot":[96,121],"respond":[98],"external":[100],"disturbances":[101],"during":[102],"task":[103],"execution.":[104],"proposed":[106],"approach":[107],"is":[108],"experimentally":[109],"verified":[110],"noise-free":[114],"illustrative":[115],"simulation":[116],"and":[117],"real":[119],"human":[120],"co-manipulation":[122],"task.":[123]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}