{"id":"https://openalex.org/W2200952511","doi":"https://doi.org/10.1109/iros.2015.7353699","title":"Dynamic load distribution in cooperative manipulation tasks","display_name":"Dynamic load distribution in cooperative manipulation tasks","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2200952511","doi":"https://doi.org/10.1109/iros.2015.7353699","mag":"2200952511"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353699","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353699","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":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1271692","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5077789195","display_name":"Andrea Zambelli Bais","orcid":null},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Zambelli Bais","raw_affiliation_strings":["Dipartimento di Ingegneria Industriale, University of Trento, Trento, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Industriale, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016082680","display_name":"Sebastian Erhart","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sebastian Erhart","raw_affiliation_strings":["Chair of Information-oriented control, Technische Universit\u00e4t M\u00fcnchen Arcisstra\u00dfe 21, M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Information-oriented control, Technische Universit\u00e4t M\u00fcnchen Arcisstra\u00dfe 21, M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023173503","display_name":"Luca Zaccarian","orcid":"https://orcid.org/0000-0003-1247-0029"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]},{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["FR","IT"],"is_corresponding":false,"raw_author_name":"Luca Zaccarian","raw_affiliation_strings":["CNRS, LAAS, Toulouse, France","Dipartimento di Ingegneria Industriale, University of Trento, Italy","Universit\u00e9 de Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"Dipartimento di Ingegneria Industriale, University of Trento, Italy","institution_ids":["https://openalex.org/I193223587"]},{"raw_affiliation_string":"Universit\u00e9 de Toulouse, France","institution_ids":["https://openalex.org/I17866349"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024376647","display_name":"Sandra Hirche","orcid":"https://orcid.org/0000-0001-7819-5926"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sandra Hirche","raw_affiliation_strings":["Chair of Information-oriented control, Technische Universit\u00e4t M\u00fcnchen Arcisstra\u00dfe 21, M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Information-oriented control, Technische Universit\u00e4t M\u00fcnchen Arcisstra\u00dfe 21, M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.3453,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.95537525,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2380","last_page":"2385"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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":0.9821000099182129,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9769999980926514,"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/grasp","display_name":"GRASP","score":0.8916266560554504},{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.8726022243499756},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.7769935131072998},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6630338430404663},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6493953466415405},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5847959518432617},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5501202344894409},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.5374290347099304},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4488872289657593},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44504451751708984},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4233558177947998},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4209710359573364},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23244249820709229},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2257939577102661},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18886569142341614}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8916266560554504},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.8726022243499756},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.7769935131072998},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6630338430404663},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6493953466415405},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5847959518432617},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5501202344894409},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.5374290347099304},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4488872289657593},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44504451751708984},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4233558177947998},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4209710359573364},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23244249820709229},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2257939577102661},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18886569142341614},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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":4,"locations":[{"id":"doi:10.1109/iros.2015.7353699","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353699","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:HAL:hal-01851191v1","is_oa":false,"landing_page_url":"https://laas.hal.science/hal-01851191","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep 2015, Hamburg, Germany. pp.2380-2385, ⟨10.1109/IROS.2015.7353699⟩","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:iris.unitn.it:11572/176455","is_oa":false,"landing_page_url":"http://hdl.handle.net/11572/176455","pdf_url":null,"source":{"id":"https://openalex.org/S4306401913","display_name":"Institutional Research Information System (Universit\u00e0 degli Studi di Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1271692","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1271692","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1271692","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1271692","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":"","raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W1978023077","https://openalex.org/W2009405702","https://openalex.org/W2044483173","https://openalex.org/W2054639902","https://openalex.org/W2127843022","https://openalex.org/W2130351752","https://openalex.org/W2141222604","https://openalex.org/W2144529738","https://openalex.org/W2157168855","https://openalex.org/W2295847848","https://openalex.org/W2607928667","https://openalex.org/W3029645440","https://openalex.org/W4232027764","https://openalex.org/W6644756748"],"related_works":["https://openalex.org/W3114548899","https://openalex.org/W2975514431","https://openalex.org/W3090651099","https://openalex.org/W847404441","https://openalex.org/W2971446651","https://openalex.org/W2000145385","https://openalex.org/W1974072120","https://openalex.org/W3082835097","https://openalex.org/W2056483949","https://openalex.org/W1969497836"],"abstract_inverted_index":{"In":[0,40,89],"cooperative":[1,97],"manipulation":[2,98],"tasks,":[3],"load":[4,121],"allocation":[5,105],"is":[6,128],"a":[7,95,103,141],"crucial":[8],"step":[9],"in":[10],"order":[11],"to":[12,24,31,107],"solve":[13],"the":[14,18,29,33,37,44,48,60,66,69,73,76,83,87,109,120],"intrinsic":[15],"redundancy":[16],"of":[17,36,51,86,125,132],"system.":[19],"The":[20,123],"desired":[21,34,110],"wrench":[22],"needs":[23],"be":[25],"suitably":[26],"distributed":[27],"between":[28],"end-effectors":[30],"implement":[32],"motion":[35],"manipulated":[38],"object.":[39,143],"this":[41,90],"framework,":[42],"both":[43,114],"grasp":[45,70],"kinematics":[46],"and":[47,100,116],"individual":[49,77],"capacities":[50],"each":[52],"manipulator":[53],"provide":[54],"relevant":[55],"constraints.":[56],"On":[57,72],"one":[58],"hand,":[59,75],"end":[61],"effector":[62],"wrenches":[63],"act":[64],"on":[65,82,94],"object":[67,111],"via":[68],"geometry.":[71],"other":[74],"admissible":[78],"payload":[79],"further":[80],"depends":[81],"current":[84],"configuration":[85],"robots.":[88],"paper":[91],"we":[92,101],"focus":[93],"heterogeneous":[96],"setting":[99],"design":[102],"proper":[104],"strategy":[106],"distribute":[108],"wrench,":[112],"considering":[113],"constant":[115],"time-varying":[117],"constraints":[118],"for":[119],"distribution.":[122],"relevance":[124],"our":[126],"findings":[127],"illustrated":[129],"by":[130],"means":[131],"an":[133],"experimental":[134],"study":[135],"involving":[136],"two":[137],"anthropomorphic":[138],"robots":[139],"manipulating":[140],"common":[142]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2016-06-24T00:00:00"}