{"id":"https://openalex.org/W2618596017","doi":"https://doi.org/10.1109/iros.2017.8206532","title":"A framework for intuitive collaboration with a mobile manipulator","display_name":"A framework for intuitive collaboration with a mobile manipulator","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2618596017","doi":"https://doi.org/10.1109/iros.2017.8206532","mag":"2618596017"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206532","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206532","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":true,"oa_status":"green","oa_url":"https://hal.science/hal-01489029","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059291133","display_name":"Benjamin Navarro","orcid":"https://orcid.org/0000-0001-6757-5376"},"institutions":[{"id":"https://openalex.org/I12449238","display_name":"Universit\u00e9 d'Orl\u00e9ans","ror":"https://ror.org/014zrew76","country_code":"FR","type":"education","lineage":["https://openalex.org/I12449238"]},{"id":"https://openalex.org/I4210096782","display_name":"Laboratoire Pluridisciplinaire de Recherche en Ing\u00e9nierie des Syst\u00e8mes, M\u00e9canique et Energ\u00e9tique","ror":"https://ror.org/00sbth994","country_code":"FR","type":"facility","lineage":["https://openalex.org/I12449238","https://openalex.org/I4210096782","https://openalex.org/I4210143826"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210143826","display_name":"Institut National des Sciences Appliqu\u00e9es Centre Val de Loire","ror":"https://ror.org/03y0qc033","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210143826"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Benjamin Navarro","raw_affiliation_strings":["Laboratory for Computer Science, Universit\u00e9 de Montpellier CNRS, Montpellier, France","PRISME Laboratory, University of Orl\u00e9ans - INSA CVL, Bourges Cedex, France"],"affiliations":[{"raw_affiliation_string":"Laboratory for Computer Science, Universit\u00e9 de Montpellier CNRS, Montpellier, France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"PRISME Laboratory, University of Orl\u00e9ans - INSA CVL, Bourges Cedex, France","institution_ids":["https://openalex.org/I12449238","https://openalex.org/I4210096782","https://openalex.org/I4210143826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022568011","display_name":"Andrea Cherubini","orcid":"https://orcid.org/0000-0002-7272-6922"},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Andrea Cherubini","raw_affiliation_strings":["Laboratory for Computer Science, Universit\u00e9 de Montpellier CNRS, Montpellier, France"],"affiliations":[{"raw_affiliation_string":"Laboratory for Computer Science, Universit\u00e9 de Montpellier CNRS, Montpellier, France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005842629","display_name":"A\u00efcha Fonte","orcid":null},"institutions":[{"id":"https://openalex.org/I12449238","display_name":"Universit\u00e9 d'Orl\u00e9ans","ror":"https://ror.org/014zrew76","country_code":"FR","type":"education","lineage":["https://openalex.org/I12449238"]},{"id":"https://openalex.org/I4210096782","display_name":"Laboratoire Pluridisciplinaire de Recherche en Ing\u00e9nierie des Syst\u00e8mes, M\u00e9canique et Energ\u00e9tique","ror":"https://ror.org/00sbth994","country_code":"FR","type":"facility","lineage":["https://openalex.org/I12449238","https://openalex.org/I4210096782","https://openalex.org/I4210143826"]},{"id":"https://openalex.org/I4210143826","display_name":"Institut National des Sciences Appliqu\u00e9es Centre Val de Loire","ror":"https://ror.org/03y0qc033","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210143826"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Aicha Fonte","raw_affiliation_strings":["PRISME Laboratory, University of Orl\u00e9ans - INSA CVL, Bourges Cedex, France"],"affiliations":[{"raw_affiliation_string":"PRISME Laboratory, University of Orl\u00e9ans - INSA CVL, Bourges Cedex, France","institution_ids":["https://openalex.org/I12449238","https://openalex.org/I4210096782","https://openalex.org/I4210143826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028428443","display_name":"G\u00e9rard Poisson","orcid":"https://orcid.org/0000-0002-6730-9411"},"institutions":[{"id":"https://openalex.org/I4210096782","display_name":"Laboratoire Pluridisciplinaire de Recherche en Ing\u00e9nierie des Syst\u00e8mes, M\u00e9canique et Energ\u00e9tique","ror":"https://ror.org/00sbth994","country_code":"FR","type":"facility","lineage":["https://openalex.org/I12449238","https://openalex.org/I4210096782","https://openalex.org/I4210143826"]},{"id":"https://openalex.org/I12449238","display_name":"Universit\u00e9 d'Orl\u00e9ans","ror":"https://ror.org/014zrew76","country_code":"FR","type":"education","lineage":["https://openalex.org/I12449238"]},{"id":"https://openalex.org/I4210143826","display_name":"Institut National des Sciences Appliqu\u00e9es Centre Val de Loire","ror":"https://ror.org/03y0qc033","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210143826"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Gerard Poisson","raw_affiliation_strings":["PRISME Laboratory, University of Orl\u00e9ans - INSA CVL, Bourges Cedex, France"],"affiliations":[{"raw_affiliation_string":"PRISME Laboratory, University of Orl\u00e9ans - INSA CVL, Bourges Cedex, France","institution_ids":["https://openalex.org/I12449238","https://openalex.org/I4210096782","https://openalex.org/I4210143826"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070253135","display_name":"Philippe Fraisse","orcid":"https://orcid.org/0000-0003-0911-0743"},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Fraisse","raw_affiliation_strings":["Laboratory for Computer Science, Universit\u00e9 de Montpellier CNRS, Montpellier, France"],"affiliations":[{"raw_affiliation_string":"Laboratory for Computer Science, Universit\u00e9 de Montpellier CNRS, Montpellier, France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5059291133"],"corresponding_institution_ids":["https://openalex.org/I12449238","https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I4210096782","https://openalex.org/I4210143826"],"apc_list":null,"apc_paid":null,"fwci":1.0161,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.85102243,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"6293","last_page":"6298"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9994999766349792,"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/redundancy","display_name":"Redundancy (engineering)","score":0.7890724539756775},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.660919725894928},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6460084915161133},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6425726413726807},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.6276214122772217},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.6029228568077087},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49772027134895325},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4453504979610443},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34720590710639954},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.334087073802948},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32642555236816406},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3055591285228729},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20458251237869263},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1606067419052124}],"concepts":[{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.7890724539756775},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.660919725894928},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6460084915161133},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6425726413726807},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.6276214122772217},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.6029228568077087},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49772027134895325},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4453504979610443},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34720590710639954},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.334087073802948},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32642555236816406},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3055591285228729},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20458251237869263},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1606067419052124},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2017.8206532","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206532","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"},{"id":"pmh:oai:HAL:hal-01489029v2","is_oa":true,"landing_page_url":"https://hal.science/hal-01489029","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://iros2017.org","raw_type":"Conference papers"},{"id":"pmh:oai:HAL:hal-02898832v1","is_oa":false,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-02898832","pdf_url":null,"source":{"id":"https://openalex.org/S4406922276","display_name":"INRIA a CCSD electronic archive server","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01489029v2","is_oa":true,"landing_page_url":"https://hal.science/hal-01489029","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://iros2017.org","raw_type":"Conference papers"},"sustainable_development_goals":[{"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17","score":0.44999998807907104}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1587826642","https://openalex.org/W1980553196","https://openalex.org/W2007554064","https://openalex.org/W2017239762","https://openalex.org/W2020772149","https://openalex.org/W2028850192","https://openalex.org/W2114000612","https://openalex.org/W2119955255","https://openalex.org/W2133493588","https://openalex.org/W2138027051","https://openalex.org/W2162440460","https://openalex.org/W2267730214","https://openalex.org/W2316891197","https://openalex.org/W2546825770","https://openalex.org/W2568614793","https://openalex.org/W2623627972","https://openalex.org/W6699482793"],"related_works":["https://openalex.org/W4211095314","https://openalex.org/W1991249326","https://openalex.org/W4214562868","https://openalex.org/W4379536980","https://openalex.org/W2126905924","https://openalex.org/W2123271278","https://openalex.org/W1972819412","https://openalex.org/W4220834786","https://openalex.org/W84202494","https://openalex.org/W2543640713"],"abstract_inverted_index":{"In":[0],"this":[1,36],"paper,":[2],"we":[3,38],"present":[4],"a":[5,25,32,40,62,86,92],"control":[6],"strategy":[7],"that":[8,43],"enables":[9],"intuitive":[10],"physical":[11],"human-robot":[12],"collaboration":[13],"with":[14,18,24,85],"mobile":[15,46,95],"manipulators":[16],"equipped":[17],"an":[19],"omnidirectional":[20],"base.":[21],"When":[22],"interacting":[23],"human":[26],"operator,":[27],"intuitiveness":[28],"of":[29,64,74],"operation":[30],"is":[31],"major":[33],"concern.":[34],"To":[35],"end,":[37],"propose":[39],"redundancy":[41],"solution":[42],"allows":[44],"the":[45,59,98],"base":[47,96],"to":[48,70,78],"be":[49],"fixed":[50],"when":[51,58],"working":[52],"locally":[53],"and":[54,76,80],"moves":[55],"it":[56],"only":[57],"robot":[60],"approaches":[61],"set":[63],"constraints.":[65],"These":[66],"constraints":[67],"include":[68],"distance":[69,77],"singular":[71],"poses,":[72],"minimum":[73],"manipulability":[75],"objects":[79],"angular":[81],"deviation.":[82],"Experimental":[83],"results":[84],"Kuka":[87],"LWR4":[88],"arm":[89],"mounted":[90],"on":[91],"Neobotix":[93],"MPO700":[94],"validate":[97],"proposed":[99],"approach.":[100]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-03-13T16:22:10.518609","created_date":"2025-10-10T00:00:00"}