{"id":"https://openalex.org/W2910324469","doi":"https://doi.org/10.1109/iros.2018.8593853","title":"Dual-Arm Coordinated Motion Planning and Compliance Control for Capturing Moving Objects with Large Momentum","display_name":"Dual-Arm Coordinated Motion Planning and Compliance Control for Capturing Moving Objects with Large Momentum","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2910324469","doi":"https://doi.org/10.1109/iros.2018.8593853","mag":"2910324469"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593853","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593853","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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":"https://www.research.ed.ac.uk/files/75516566/Dual_arm_Coordinated_Motion_Planning.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019936956","display_name":"Lei Yan","orcid":"https://orcid.org/0000-0003-1493-7147"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Yan","raw_affiliation_strings":["The School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101421479","display_name":"Yiming Yang","orcid":"https://orcid.org/0000-0002-9755-2711"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yiming Yang","raw_affiliation_strings":["The Institute of Perception, Action and Behaviour, University of Edinburgh, Edinburgh, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Institute of Perception, Action and Behaviour, University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035195155","display_name":"Wenfu Xu","orcid":"https://orcid.org/0000-0001-8218-6061"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenfu Xu","raw_affiliation_strings":["The School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069715982","display_name":"Sethu Vijayakumar","orcid":"https://orcid.org/0000-0003-0649-7241"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sethu Vijayakumar","raw_affiliation_strings":["The Institute of Perception, Action and Behaviour, University of Edinburgh, Edinburgh, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Institute of Perception, Action and Behaviour, University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6085,"has_fulltext":true,"cited_by_count":29,"citation_normalized_percentile":{"value":0.80969088,"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":"7137","last_page":"7144"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9970999956130981,"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/dual","display_name":"Dual (grammatical number)","score":0.6085070371627808},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5336613655090332},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.523039698600769},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5112038254737854},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5085180997848511},{"id":"https://openalex.org/keywords/momentum","display_name":"Momentum (technical analysis)","score":0.5084916353225708},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.445415735244751},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4212692975997925},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.28400513529777527},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27901357412338257},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17669424414634705},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.10886016488075256}],"concepts":[{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.6085070371627808},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5336613655090332},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.523039698600769},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5112038254737854},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5085180997848511},{"id":"https://openalex.org/C60718061","wikidata":"https://www.wikidata.org/wiki/Q1414747","display_name":"Momentum (technical analysis)","level":2,"score":0.5084916353225708},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.445415735244751},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4212692975997925},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.28400513529777527},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27901357412338257},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17669424414634705},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.10886016488075256},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2018.8593853","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593853","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/3302527c-8b54-4ff9-848f-e6a9e1d8e8c1","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/3302527c-8b54-4ff9-848f-e6a9e1d8e8c1","pdf_url":"https://www.research.ed.ac.uk/files/75516566/Dual_arm_Coordinated_Motion_Planning.pdf","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"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":"Yan, L, Yang, Y, Xu, W & Vijayakumar, S 2019, Dual-arm Coordinated Motion Planning and Compliance Control for Capturing Moving Objects with Large Momentum. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers, Madrid, Spain, pp. 7137-7144, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, 1/10/18. https://doi.org/10.1109/IROS.2018.8593853","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:pure.ed.ac.uk:publications/3302527c-8b54-4ff9-848f-e6a9e1d8e8c1","is_oa":false,"landing_page_url":"https://www.research.ed.ac.uk/portal/en/publications/dualarm-coordinated-motion-planning-and-compliance-control-for-capturing-moving-objects-with-large-momentum(3302527c-8b54-4ff9-848f-e6a9e1d8e8c1).html","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","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":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:openaire/3302527c-8b54-4ff9-848f-e6a9e1d8e8c1","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/3302527c-8b54-4ff9-848f-e6a9e1d8e8c1","pdf_url":"https://www.research.ed.ac.uk/files/75516566/Dual_arm_Coordinated_Motion_Planning.pdf","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"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":"Yan, L, Yang, Y, Xu, W & Vijayakumar, S 2019, Dual-arm Coordinated Motion Planning and Compliance Control for Capturing Moving Objects with Large Momentum. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers, Madrid, Spain, pp. 7137-7144, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, 1/10/18. https://doi.org/10.1109/IROS.2018.8593853","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6499999761581421,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1086240038","display_name":null,"funder_award_id":"EP/R026173/1","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2838024195","display_name":"UK Robotics and Artificial Intelligence Hub for Offshore Energy Asset Integrity Management","funder_award_id":"EP/R026173/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G3041203688","display_name":null,"funder_award_id":"EP/R026092","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8503207216","display_name":null,"funder_award_id":"61573116","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8572172379","display_name":"Future AI and Robotics Hub for Space (FAIR-SPACE)","funder_award_id":"EP/R026092/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8602921712","display_name":null,"funder_award_id":"EP/R026173","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320320270","display_name":"UK-India Education and Research Initiative","ror":"https://ror.org/037dz3r63"},{"id":"https://openalex.org/F4320320719","display_name":"Department of Science and Technology, Ministry of Science and Technology, India","ror":"https://ror.org/0101xrq71"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2910324469.pdf","grobid_xml":"https://content.openalex.org/works/W2910324469.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1504074027","https://openalex.org/W1883438135","https://openalex.org/W1969506947","https://openalex.org/W1976030291","https://openalex.org/W1976952767","https://openalex.org/W2002440441","https://openalex.org/W2008418625","https://openalex.org/W2051292416","https://openalex.org/W2062674159","https://openalex.org/W2109163007","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2153935709","https://openalex.org/W2162218551","https://openalex.org/W2162930614","https://openalex.org/W2200952511","https://openalex.org/W2295847848","https://openalex.org/W2327315597","https://openalex.org/W2464089775","https://openalex.org/W2562662934","https://openalex.org/W2734472784","https://openalex.org/W2767578104","https://openalex.org/W2849931839","https://openalex.org/W6684015309"],"related_works":["https://openalex.org/W4385452609","https://openalex.org/W4313255720","https://openalex.org/W2317351040","https://openalex.org/W3049557657","https://openalex.org/W3150915502","https://openalex.org/W1992538606","https://openalex.org/W2548273422","https://openalex.org/W2921933148","https://openalex.org/W2658949566","https://openalex.org/W2312533462"],"abstract_inverted_index":{"Capturing":[0],"a":[1,8,43,53,91,117,121],"moving":[2,26,118],"object":[3],"with":[4,52,106],"large":[5],"momentum":[6,36,105],"by":[7],"dual-arm":[9,19,44,74,113],"robot":[10],"is":[11,70],"especially":[12],"challenging":[13],"because":[14],"of":[15,18,112],"the":[16,25,29,64,79,84,103,129],"requirement":[17],"coordinated":[20,45],"motion":[21,46,76],"planning":[22,47],"for":[23,33],"tracking":[24,85],"object,":[27],"and":[28,35,48,59,77,110],"operational":[30,61],"force":[31,62,81],"control":[32,50,78],"contact":[34],"transfer.":[37],"In":[38],"this":[39],"paper,":[40],"we":[41],"present":[42],"compliance":[49],"method":[51,69,96],"unique":[54],"null-space":[55],"projected":[56],"relative":[57,60],"Jacobian":[58],"between":[63],"two":[65],"arms.":[66],"The":[67],"proposed":[68,130],"able":[71],"to":[72,97,101,127],"plan":[73],"capturing":[75,80],"without":[82],"disturbing":[83],"motion.":[86],"We":[87],"have":[88],"also":[89],"adopted":[90],"direct":[92],"collocation":[93],"trajectory":[94,100],"optimization":[95],"generate":[98],"optimal":[99],"decrease":[102],"object's":[104],"minimum":[107],"effort.":[108],"Simulation":[109],"experiment":[111],"robots":[114],"picking":[115],"up":[116],"box":[119],"on":[120],"mobile":[122],"platform":[123],"are":[124],"carried":[125],"out":[126],"verify":[128],"method.":[131]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
