{"id":"https://openalex.org/W2772044689","doi":"https://doi.org/10.1109/iros.2017.8206447","title":"Development of a human size and strength compliant bi-manual platform for realistic heavy manipulation tasks","display_name":"Development of a human size and strength compliant bi-manual platform for realistic heavy manipulation tasks","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2772044689","doi":"https://doi.org/10.1109/iros.2017.8206447","mag":"2772044689"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206447","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206447","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5057285974","display_name":"Lorenzo Baccelliere","orcid":"https://orcid.org/0000-0002-3396-328X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Lorenzo Baccelliere","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070252862","display_name":"Navvab Kashiri","orcid":"https://orcid.org/0000-0002-1219-2447"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Navvab Kashiri","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072560467","display_name":"Luca Muratore","orcid":"https://orcid.org/0000-0002-1265-3370"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Muratore","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016982993","display_name":"Arturo Laurenzi","orcid":"https://orcid.org/0000-0002-9065-1266"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arturo Laurenzi","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044880474","display_name":"Ma\u0142gorzata Kamedu\u0142a","orcid":"https://orcid.org/0000-0002-6816-279X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Malgorzata Kamedula","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017451540","display_name":"Alessio Margan","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessio Margan","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022496809","display_name":"Stefano Cordasco","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Stefano Cordasco","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068938836","display_name":"J\u00f6rn Malzahn","orcid":"https://orcid.org/0000-0001-6367-7869"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Jorn Malzahn","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos G. Tsagarakis","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5057285974"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":4.716,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.95681447,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"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":0.9962999820709229,"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":0.9943000078201294,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.9138863682746887},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.7327014803886414},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6635875701904297},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5940449237823486},{"id":"https://openalex.org/keywords/heavy-load","display_name":"Heavy load","score":0.5193794369697571},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46377721428871155},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.41413068771362305},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24168124794960022},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12220326066017151},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.10234242677688599}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.9138863682746887},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.7327014803886414},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6635875701904297},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5940449237823486},{"id":"https://openalex.org/C3020782925","wikidata":"https://www.wikidata.org/wiki/Q5695090","display_name":"Heavy load","level":2,"score":0.5193794369697571},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46377721428871155},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.41413068771362305},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24168124794960022},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12220326066017151},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.10234242677688599},{"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/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206447","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206447","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.6600000262260437,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320325847","display_name":"Istituto Italiano di Tecnologia","ror":"https://ror.org/042t93s57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1573307335","https://openalex.org/W2029212484","https://openalex.org/W2058174034","https://openalex.org/W2062127963","https://openalex.org/W2070614568","https://openalex.org/W2073136132","https://openalex.org/W2109308395","https://openalex.org/W2109777206","https://openalex.org/W2128750381","https://openalex.org/W2130280438","https://openalex.org/W2137165191","https://openalex.org/W2138486218","https://openalex.org/W2139086916","https://openalex.org/W2154874053","https://openalex.org/W2162189406","https://openalex.org/W2221569889","https://openalex.org/W2293307356","https://openalex.org/W2513389755","https://openalex.org/W2570803316","https://openalex.org/W2586732371","https://openalex.org/W2612636433","https://openalex.org/W2730083658"],"related_works":["https://openalex.org/W2913189039","https://openalex.org/W1889691171","https://openalex.org/W613097443","https://openalex.org/W2888778368","https://openalex.org/W4236890452","https://openalex.org/W2484273923","https://openalex.org/W1991400806","https://openalex.org/W4379531983","https://openalex.org/W2294241086","https://openalex.org/W2530592890"],"abstract_inverted_index":{"Developing":[0],"a":[1,17,55],"high":[2,57,83],"physical":[3,70],"performance":[4,58,84,138],"robotic":[5],"manipulation":[6,65],"platform":[7,66,150],"with":[8],"considerable":[9],"power":[10,73],"density,":[11],"strength":[12,71,145],"and":[13,20,25,61,72,87,116,143,160],"resilience":[14],"is":[15,104,151],"not":[16],"trivial":[18],"task":[19],"frequently":[21],"leads":[22],"to":[23,29,43,99],"heavy":[24,111,157],"bulky":[26],"systems":[27],"unable":[28],"meet":[30],"the":[31,119,129,133,140,144,148,154],"application":[32],"requirements,":[33],"i.e.":[34],"such":[35],"robots":[36],"should":[37],"have":[38],"human":[39,59],"body":[40,121],"size":[41,60],"compatibility":[42],"work":[44,52],"in":[45,96],"infrastructures":[46],"designed":[47],"for":[48,108,132],"humans.":[49],"In":[50],"this":[51,77],"we":[53],"present":[54],"new":[56],"weight":[62,90],"compatible":[63],"bi-manual":[64,122],"that":[67,103],"demonstrates":[68],"notable":[69],"capabilities.":[74],"To":[75],"attain":[76],"performance,":[78],"design":[79,114],"features":[80],"including":[81],"custom":[82],"elastic":[85],"drives":[86],"robust":[88],"light":[89],"structure":[91],"principles":[92,115],"were":[93],"considered":[94],"resulting":[95],"large":[97],"payload":[98,158],"robot":[100,123],"mass":[101],"ratio":[102],"greater":[105],"than":[106],"1.5":[107],"short":[109],"time":[110],"payloads.":[112],"The":[113,137],"mechanics":[117],"of":[118,139,147,156],"upper":[120],"are":[124],"presented":[125],"providing":[126],"details":[127],"on":[128],"solutions":[130],"adopted":[131],"various":[134],"mechatronics":[135],"components.":[136],"system":[141],"actuation":[142],"capacity":[146],"overall":[149],"verified":[152],"through":[153],"execution":[155],"motion":[159],"impact":[161],"experiments.":[162]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":18},{"year":2017,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}