{"id":"https://openalex.org/W2206550589","doi":"https://doi.org/10.1109/iros.2015.7353978","title":"Preliminary study of virtual nonholonomic constraints for time-delayed teleoperation","display_name":"Preliminary study of virtual nonholonomic constraints for time-delayed teleoperation","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2206550589","doi":"https://doi.org/10.1109/iros.2015.7353978","mag":"2206550589"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353978","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353978","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010845317","display_name":"Steve Vozar","orcid":"https://orcid.org/0000-0001-7629-8059"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]},{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Steve Vozar","raw_affiliation_strings":["Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD, USA","University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100679789","display_name":"Zihan Chen","orcid":"https://orcid.org/0000-0002-1317-1226"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zihan Chen","raw_affiliation_strings":["Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022619253","display_name":"Peter Kazanzides","orcid":"https://orcid.org/0000-0002-6117-5467"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Kazanzides","raw_affiliation_strings":["Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022475465","display_name":"Louis L. Whitcomb","orcid":"https://orcid.org/0000-0003-2398-1000"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Louis L. Whitcomb","raw_affiliation_strings":["Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5010845317"],"corresponding_institution_ids":["https://openalex.org/I145311948","https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":1.8481,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.85223132,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4244","last_page":"4250"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T10868","display_name":"Soft Robotics and Applications","score":0.948199987411499,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9478999972343445,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/teleoperation","display_name":"Teleoperation","score":0.9194294214248657},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.6605597138404846},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6177869439125061},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5655422210693359},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.5538220405578613},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5418795347213745},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4576825201511383},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4103041887283325},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3880460560321808},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37827226519584656},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.26537129282951355},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2387075126171112},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18559953570365906},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1703513264656067}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9194294214248657},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.6605597138404846},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6177869439125061},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5655422210693359},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.5538220405578613},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5418795347213745},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4576825201511383},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4103041887283325},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3880460560321808},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37827226519584656},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26537129282951355},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2387075126171112},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18559953570365906},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1703513264656067},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7353978","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353978","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.699999988079071}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1509235676","https://openalex.org/W1544544489","https://openalex.org/W1965099686","https://openalex.org/W1967390389","https://openalex.org/W2016183684","https://openalex.org/W2021932141","https://openalex.org/W2061417916","https://openalex.org/W2072391607","https://openalex.org/W2083045261","https://openalex.org/W2083692125","https://openalex.org/W2095771936","https://openalex.org/W2107362174","https://openalex.org/W2111800554","https://openalex.org/W2122383956","https://openalex.org/W2134245906","https://openalex.org/W2136766122","https://openalex.org/W2145261348","https://openalex.org/W2148033465","https://openalex.org/W2149881402","https://openalex.org/W2151198364","https://openalex.org/W2151905266","https://openalex.org/W2159974476","https://openalex.org/W2161403133","https://openalex.org/W2163141877","https://openalex.org/W2168676985","https://openalex.org/W2901136733","https://openalex.org/W4206603187","https://openalex.org/W6632621168","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W817518365","https://openalex.org/W2097059456","https://openalex.org/W2042038080","https://openalex.org/W4249701897","https://openalex.org/W71119328","https://openalex.org/W2107308837","https://openalex.org/W360452402","https://openalex.org/W2147558862","https://openalex.org/W2141648055"],"abstract_inverted_index":{"Direct":[0],"teleoperation":[1,136],"with":[2,21,137],"multisecond":[3],"time-delayed":[4,91],"telemetry":[5],"between":[6],"master":[7],"and":[8,173],"slave":[9],"is":[10],"challenging":[11],"for":[12,88,120],"humans":[13],"to":[14,112,115,122,142,147,159],"perform.":[15],"When":[16],"controlling":[17],"a":[18,49,86,89,105,131,138,168],"holonomic":[19,148],"robot":[20],"many":[22],"degrees":[23,77],"of":[24,57,75,78,85,130],"freedom,":[25],"operators":[26,64,121],"may":[27,175],"incidentally":[28],"provide":[29],"commands":[30],"in":[31,67,134],"an":[32,68,96],"intended":[33],"direction":[34,70],"without":[35],"realizing":[36],"their":[37],"mistake":[38],"until":[39],"receiving":[40],"feedback":[41,165],"several":[42],"seconds":[43],"later.":[44],"For":[45],"some":[46],"applications,":[47],"imposing":[48],"virtual":[50,107,171],"nonholonomic":[51,106],"constraint":[52],"(VNHC)":[53],"on":[54],"the":[55,58,73,83,113,118,128],"motion":[56],"end":[59],"effector":[60],"can":[61],"help":[62],"prevent":[63],"from":[65],"moving":[66],"unintended":[69],"by":[71,95],"reducing":[72],"number":[74],"controllable":[76],"freedom.":[79],"This":[80],"paper":[81],"presents":[82],"development":[84],"VNHC":[87,114,139],"planar":[90,149],"telerobotic":[92,98],"task,":[93],"motivated":[94],"on-orbit":[97],"satellite":[99],"servicing":[100],"operation.":[101],"We":[102,126],"also":[103],"describe":[104],"fixture":[108,172],"(NHVF)":[109],"that":[110,167],"adheres":[111],"further":[116],"reduce":[117],"potential":[119],"input":[123],"mistaken":[124],"commands.":[125],"report":[127],"results":[129],"pilot":[132],"study":[133],"which":[135],"was":[140,157],"found":[141,158],"have":[143],"comparable":[144],"task":[145],"performance":[146,161],"teleoperation,":[150],"while":[151],"decreasing":[152],"operator":[153],"workload.":[154],"The":[155],"NHVF":[156],"decrease":[160],"slightly,":[162],"though":[163],"user":[164],"indicated":[166],"differently":[169],"implemented":[170],"controller":[174],"improve":[176],"performance.":[177]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
