{"id":"https://openalex.org/W4405778979","doi":"https://doi.org/10.1109/iros58592.2024.10802801","title":"Harnessing with Twisting: Single-Arm Deformable Linear Object Manipulation for Industrial Harnessing Task","display_name":"Harnessing with Twisting: Single-Arm Deformable Linear Object Manipulation for Industrial Harnessing Task","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405778979","doi":"https://doi.org/10.1109/iros58592.2024.10802801"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802801","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802801","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5047827691","display_name":"Xiang Zhang","orcid":"https://orcid.org/0000-0001-7900-5127"},"institutions":[{"id":"https://openalex.org/I4210099960","display_name":"Systems Control (United States)","ror":"https://ror.org/014tted12","country_code":"US","type":"company","lineage":["https://openalex.org/I4210099960"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiang Zhang","raw_affiliation_strings":["UC Berkeley,Mechanical Systems Control Lab,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC Berkeley,Mechanical Systems Control Lab,USA","institution_ids":["https://openalex.org/I4210099960","https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067794123","display_name":"Hsien-Chung Lin","orcid":"https://orcid.org/0000-0001-7562-9725"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hsien-Chung Lin","raw_affiliation_strings":["FANUC America Corporation,FANUC Advanced Research Laboratory,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FANUC America Corporation,FANUC Advanced Research Laboratory,USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115591855","display_name":"Yu Zhao","orcid":"https://orcid.org/0000-0002-7482-3742"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu Zhao","raw_affiliation_strings":["FANUC America Corporation,FANUC Advanced Research Laboratory,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FANUC America Corporation,FANUC Advanced Research Laboratory,USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064077634","display_name":"Masayoshi Tomizuka","orcid":"https://orcid.org/0000-0003-0206-6639"},"institutions":[{"id":"https://openalex.org/I4210099960","display_name":"Systems Control (United States)","ror":"https://ror.org/014tted12","country_code":"US","type":"company","lineage":["https://openalex.org/I4210099960"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Masayoshi Tomizuka","raw_affiliation_strings":["UC Berkeley,Mechanical Systems Control Lab,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC Berkeley,Mechanical Systems Control Lab,USA","institution_ids":["https://openalex.org/I4210099960","https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7753,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.86434134,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4069","last_page":"4075"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9937000274658203,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9937000274658203,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9571999907493591,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9323999881744385,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6906118392944336},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6195674538612366},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5509443283081055},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43386268615722656},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41006699204444885},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33511069416999817},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20879539847373962},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.08666771650314331}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6906118392944336},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6195674538612366},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5509443283081055},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43386268615722656},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41006699204444885},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33511069416999817},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20879539847373962},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.08666771650314331}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802801","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802801","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2172945660","https://openalex.org/W2859599500","https://openalex.org/W2938604599","https://openalex.org/W2962688712","https://openalex.org/W2962871243","https://openalex.org/W2968169371","https://openalex.org/W3003169307","https://openalex.org/W3164946289","https://openalex.org/W3179613134","https://openalex.org/W3196685263","https://openalex.org/W3210579454","https://openalex.org/W4221070022","https://openalex.org/W4226465778","https://openalex.org/W4239539940","https://openalex.org/W4312566930","https://openalex.org/W4312610897","https://openalex.org/W4312821271","https://openalex.org/W4383097611","https://openalex.org/W4383172035","https://openalex.org/W4401415882","https://openalex.org/W4401417154","https://openalex.org/W4402697409","https://openalex.org/W6769286903","https://openalex.org/W6846435682","https://openalex.org/W6857244198"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Wire-harnessing":[0],"tasks":[1],"pose":[2],"great":[3],"challenges":[4],"to":[5,12,54],"be":[6],"automated":[7],"by":[8],"the":[9,13,20,79,113],"robot":[10,67,81],"due":[11],"complex":[14],"dynamics":[15],"and":[16,38,90,119,137,158,167],"unpredictable":[17],"behavior":[18],"of":[19,131],"deformable":[21],"wire.":[22],"Traditional":[23],"methods,":[24],"often":[25],"reliant":[26],"on":[27,112,147],"dual-robot":[28],"arms":[29],"or":[30],"tactile":[31],"sensing,":[32],"face":[33],"limitations":[34],"in":[35,94],"adaptability,":[36],"cost,":[37],"scalability.":[39],"This":[40],"paper":[41],"introduces":[42],"a":[43,50,95,106,122,129,138],"novel":[44],"single-robot":[45],"wire-harnessing":[46],"pipeline":[47],"that":[48],"leverages":[49],"robot\u2019s":[51],"twisting":[52],"motion":[53,123],"generate":[55],"necessary":[56],"wire":[57,88,120,143,150,169],"tension":[58,86,117],"for":[59,87,116,125,134,142],"precise":[60],"insertion":[61,91,132],"into":[62,92],"clamps,":[63],"using":[64],"only":[65],"one":[66],"arm":[68,82],"with":[69,171],"an":[70,148],"integrated":[71],"force/torque":[72],"(F/T)":[73],"sensor.":[74],"Benefiting":[75],"from":[76],"this":[77],"design,":[78],"single":[80,166],"can":[83],"efficiently":[84,163],"apply":[85],"routing":[89],"clamps":[93],"narrow":[96],"space.":[97],"Our":[98],"approach":[99],"is":[100],"structured":[101],"around":[102],"four":[103],"principal":[104],"components:":[105],"Model":[107],"Predictive":[108],"Control":[109],"(MPC)":[110],"based":[111],"Koopman":[114],"operator":[115],"tracking":[118],"following,":[121],"planner":[124],"sequencing":[126],"harnessing":[127,151],"waypoints,":[128],"suite":[130],"primitives":[133],"clamp":[135],"engagement,":[136],"fix-point":[139],"switching":[140],"mechanism":[141],"constraint":[144],"updating.":[145],"Evaluated":[146],"industrial-level":[149],"task,":[152],"our":[153],"method":[154],"demonstrated":[155],"superior":[156],"performance":[157],"reliability":[159],"over":[160],"conventional":[161],"approaches,":[162],"handling":[164],"both":[165],"multiple":[168],"configurations":[170],"high":[172],"success":[173],"rates.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
