{"id":"https://openalex.org/W3090235105","doi":"https://doi.org/10.1109/iros45743.2020.9341250","title":"Dual-Arm Control for Enhanced Magnetic Manipulation","display_name":"Dual-Arm Control for Enhanced Magnetic Manipulation","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3090235105","doi":"https://doi.org/10.1109/iros45743.2020.9341250","mag":"3090235105"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341250","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341250","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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://ris.utwente.nl/ws/files/230329952/DUal_arm_control_IROS_final_accepted.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049921916","display_name":"Giovanni Pittiglio","orcid":"https://orcid.org/0000-0002-0714-5267"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Giovanni Pittiglio","raw_affiliation_strings":["the STORM Lab, School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"the STORM Lab, School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018926020","display_name":"James H. Chandler","orcid":"https://orcid.org/0000-0001-9232-4966"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"James H. Chandler","raw_affiliation_strings":["the STORM Lab, School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"the STORM Lab, School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090354777","display_name":"Michiel Richter","orcid":"https://orcid.org/0000-0003-3681-7437"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Michiel Richter","raw_affiliation_strings":["Surgical Robotics Laboratory, University of Twente, Enschede, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Surgical Robotics Laboratory, University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003693605","display_name":"Venkatasubramanian Kalpathy Venkiteswaran","orcid":"https://orcid.org/0000-0002-8600-6715"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Venkatasubramanian K. Venkiteswaran","raw_affiliation_strings":["Surgical Robotics Laboratory, University of Twente, Enschede, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Surgical Robotics Laboratory, University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050730423","display_name":"Sarthak Misra","orcid":"https://orcid.org/0000-0003-4961-0144"},"institutions":[{"id":"https://openalex.org/I1334415907","display_name":"University Medical Center Groningen","ror":"https://ror.org/03cv38k47","country_code":"NL","type":"funder","lineage":["https://openalex.org/I1334415907"]},{"id":"https://openalex.org/I169381384","display_name":"University of Groningen","ror":"https://ror.org/012p63287","country_code":"NL","type":"education","lineage":["https://openalex.org/I169381384"]},{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Sarthak Misra","raw_affiliation_strings":["Surgical Robotics Laboratory, University of Twente, Enschede, The Netherlands","University of Groningen and University Medical Centre Groningen, Groningen, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Surgical Robotics Laboratory, University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]},{"raw_affiliation_string":"University of Groningen and University Medical Centre Groningen, Groningen, The Netherlands","institution_ids":["https://openalex.org/I1334415907","https://openalex.org/I169381384"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035357710","display_name":"Pietro Valdastri","orcid":"https://orcid.org/0000-0002-2280-5438"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Pietro Valdastri","raw_affiliation_strings":["the STORM Lab, School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"the STORM Lab, School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK","institution_ids":["https://openalex.org/I130828816"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5049921916"],"corresponding_institution_ids":["https://openalex.org/I130828816"],"apc_list":null,"apc_paid":null,"fwci":1.3065,"has_fulltext":true,"cited_by_count":24,"citation_normalized_percentile":{"value":0.78530117,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7211","last_page":"7218"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9905999898910522,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.6754518747329712},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5965827703475952},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5911948084831238},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5787485837936401},{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.5525102019309998},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5505160093307495},{"id":"https://openalex.org/keywords/miniaturization","display_name":"Miniaturization","score":0.5186404585838318},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.4304257929325104},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.41939204931259155},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3740638196468353},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3084288239479065},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23709693551063538},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21104279160499573},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2041229009628296},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.19789516925811768},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.16255855560302734},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1608555018901825}],"concepts":[{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.6754518747329712},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5965827703475952},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5911948084831238},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5787485837936401},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.5525102019309998},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5505160093307495},{"id":"https://openalex.org/C57528182","wikidata":"https://www.wikidata.org/wiki/Q1271842","display_name":"Miniaturization","level":2,"score":0.5186404585838318},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.4304257929325104},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.41939204931259155},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3740638196468353},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3084288239479065},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23709693551063538},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21104279160499573},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2041229009628296},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.19789516925811768},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.16255855560302734},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1608555018901825},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","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/iros45743.2020.9341250","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341250","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.whiterose.ac.uk:172670","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Proceedings Paper"},{"id":"pmh:oai:ris.utwente.nl:openaire/34127f56-1bc0-4cfe-a46d-2a50ee7aa692","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/34127f56-1bc0-4cfe-a46d-2a50ee7aa692","pdf_url":"https://ris.utwente.nl/ws/files/230329952/DUal_arm_control_IROS_final_accepted.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Pittiglio, G, Chandler, J, Richter, M, Venkiteswaran, V K, Misra, S & Valdastri, P 2020, 'Dual-Arm Control for Enhanced Magnetic Manipulation', Paper presented at 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, Las Vegas, United States, 25/10/20 - 29/10/20.","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:ris.utwente.nl:openaire/34127f56-1bc0-4cfe-a46d-2a50ee7aa692","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/34127f56-1bc0-4cfe-a46d-2a50ee7aa692","pdf_url":"https://ris.utwente.nl/ws/files/230329952/DUal_arm_control_IROS_final_accepted.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Pittiglio, G, Chandler, J, Richter, M, Venkiteswaran, V K, Misra, S & Valdastri, P 2020, 'Dual-Arm Control for Enhanced Magnetic Manipulation', Paper presented at 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, Las Vegas, United States, 25/10/20 - 29/10/20.","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"score":0.8299999833106995,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G5602145593","display_name":null,"funder_award_id":"EP/R045291/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320320006","display_name":"Royal Society","ror":"https://ror.org/03wnrjx87"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"},{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3090235105.pdf","grobid_xml":"https://content.openalex.org/works/W3090235105.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W1887006513","https://openalex.org/W2055573331","https://openalex.org/W2056454342","https://openalex.org/W2113265921","https://openalex.org/W2121939955","https://openalex.org/W2126182407","https://openalex.org/W2134555091","https://openalex.org/W2151810181","https://openalex.org/W2184993170","https://openalex.org/W2266670594","https://openalex.org/W2467257963","https://openalex.org/W2557843197","https://openalex.org/W2575426328","https://openalex.org/W2607040065","https://openalex.org/W2735010709","https://openalex.org/W2793966962","https://openalex.org/W2805234428","https://openalex.org/W2891509873","https://openalex.org/W2896049741","https://openalex.org/W2904200469","https://openalex.org/W2914578700","https://openalex.org/W2926374707","https://openalex.org/W2946872323","https://openalex.org/W2957461748","https://openalex.org/W2971278234","https://openalex.org/W2972115561","https://openalex.org/W2980790222","https://openalex.org/W2991187840","https://openalex.org/W2996334366","https://openalex.org/W3160954918","https://openalex.org/W6762863022"],"related_works":["https://openalex.org/W3114548899","https://openalex.org/W2067759762","https://openalex.org/W4205162136","https://openalex.org/W4245224694","https://openalex.org/W2783354812","https://openalex.org/W4384112194","https://openalex.org/W2103009189","https://openalex.org/W4312958259","https://openalex.org/W4308259661","https://openalex.org/W2092086686"],"abstract_inverted_index":{"Magnetically":[0],"actuated":[1,51],"soft":[2,52],"robots":[3],"have":[4],"recently":[5],"been":[6],"identified":[7],"for":[8,49],"application":[9],"in":[10,37,63],"medicine,":[11],"due":[12],"to":[13,16,31,43,67,78,136],"their":[14],"potential":[15],"perform":[17],"minimally":[18],"invasive":[19],"exploration":[20],"of":[21,75,83,103,109,121,129],"human":[22],"cavities.":[23],"Magnetic":[24],"solutions":[25],"permit":[26],"further":[27],"miniaturization":[28],"when":[29],"compared":[30],"other":[32],"actuation":[33,47,71],"techniques,":[34],"without":[35],"loss":[36],"functionalities.":[38],"Our":[39],"long-term":[40],"goal":[41],"is":[42,66,73],"propose":[44],"a":[45,100,110],"novel":[46],"method":[48,72],"magnetically":[50],"robots,":[53],"based":[54],"on":[55,99],"dual-arm":[56],"collaborative":[57],"magnetic":[58],"manipulation.":[59],"A":[60],"fundamental":[61],"step":[62],"this":[64,70,91],"direction":[65],"show":[68,118],"that":[69],"capable":[74],"controlling":[76],"up":[77],"8":[79],"coincident,":[80],"independent":[81,96],"Degrees":[82],"Freedom":[84],"(DOFs).":[85],"In":[86],"present":[87],"paper,":[88],"we":[89],"prove":[90],"concept":[92],"by":[93,107],"measuring":[94],"the":[95,122,130],"wrench":[97],"components":[98],"second":[101],"pair":[102],"static":[104],"permanent":[105],"magnets,":[106],"means":[108],"high":[111],"resolution":[112],"6-axis":[113],"load":[114],"cell.":[115],"The":[116],"experiments":[117],"dominant":[119],"activation":[120],"desired":[123],"DOFs,":[124],"with":[125],"mean":[126],"cross-activation":[127],"error":[128],"undesired":[131],"DOFs":[132],"ranging":[133],"from":[134],"2%":[135],"10%.":[137]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":3}],"updated_date":"2026-05-20T08:49:12.498775","created_date":"2025-10-10T00:00:00"}