{"id":"https://openalex.org/W2534457604","doi":"https://doi.org/10.1109/isr.2013.6695698","title":"A RRT-based motion planning of dual-arm robot for (Dis)assembly tasks","display_name":"A RRT-based motion planning of dual-arm robot for (Dis)assembly tasks","publication_year":2013,"publication_date":"2013-10-01","ids":{"openalex":"https://openalex.org/W2534457604","doi":"https://doi.org/10.1109/isr.2013.6695698","mag":"2534457604"},"language":"en","primary_location":{"id":"doi:10.1109/isr.2013.6695698","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isr.2013.6695698","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ISR 2013","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/A5102930337","display_name":"Dong\u2010Hyung Kim","orcid":"https://orcid.org/0000-0003-3978-7173"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dong-Hyung Kim","raw_affiliation_strings":["Hanyang University, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hanyang University, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113544897","display_name":"Sungjin Lim","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sung-Jin Lim","raw_affiliation_strings":["Hanyang University, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hanyang University, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003003943","display_name":"Duck-Hyun Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Duck-Hyun Lee","raw_affiliation_strings":["Hanyang University, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hanyang University, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100672978","display_name":"Ji Yeong Lee","orcid":"https://orcid.org/0009-0006-4766-9491"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ji Yeong Lee","raw_affiliation_strings":["Hanyang University, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hanyang University, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110086203","display_name":"Chang-Soo Han","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chang-Soo Han","raw_affiliation_strings":["Hanyang University, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hanyang University, South Korea","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5525,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.74199457,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9976999759674072,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8702539205551147},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8050856590270996},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.7570047378540039},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.72428959608078},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.689863920211792},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6694939732551575},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.6402730941772461},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6063809990882874},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.45560920238494873},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4437355399131775},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4206860661506653},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.416492760181427},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41412580013275146},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3505902886390686},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.30142149329185486},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19183284044265747}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8702539205551147},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8050856590270996},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.7570047378540039},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.72428959608078},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.689863920211792},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6694939732551575},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.6402730941772461},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6063809990882874},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.45560920238494873},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4437355399131775},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4206860661506653},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.416492760181427},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41412580013275146},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3505902886390686},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30142149329185486},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19183284044265747},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/isr.2013.6695698","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isr.2013.6695698","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ISR 2013","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hanyang.ac.kr:20.500.11754/90762","is_oa":false,"landing_page_url":"http://repository.hanyang.ac.kr/handle/20.500.11754/90762","pdf_url":null,"source":{"id":"https://openalex.org/S4306401328","display_name":"The Royal Society of Chemistry\u2019s Journals, Books and Databases (The Royal Society of Chemistry)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2751430930","host_organization_name":"Royal Society of Chemistry","host_organization_lineage":["https://openalex.org/I2751430930"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1558116630","https://openalex.org/W2021015328","https://openalex.org/W2044995998","https://openalex.org/W2062653996","https://openalex.org/W2103524001","https://openalex.org/W2141664020","https://openalex.org/W2163171217","https://openalex.org/W2165375872","https://openalex.org/W3104753760","https://openalex.org/W6633530127","https://openalex.org/W6675522605"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2170661558","https://openalex.org/W2999143598","https://openalex.org/W2593985399","https://openalex.org/W2150982344"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,16,23,36,43,47,55,76,80,88,92,96,117],"manipulation":[4,89,119],"planning":[5,120],"of":[6,20,91],"a":[7,39,68],"dual-arm":[8,93],"robot":[9,24,94],"for":[10,22,95],"an":[11],"assembly":[12,27,31,77,97],"task.":[13,98],"To":[14],"assemble":[15],"parts,":[17],"two":[18],"types":[19],"paths":[21],"are":[25,124],"required:":[26],"and":[28,34,60,79,106],"re-grasping.":[29],"The":[30],"path":[32,45,78,82,90],"assembles":[33],"holds":[35],"objects":[37,51],"with":[38],"fixed":[40],"grasp,":[41],"while":[42],"re-grasping":[44,81],"changes":[46],"robots":[48],"grasp":[49],"on":[50,53],"depending":[52],"how":[54,61],"object":[56],"was":[57],"picked":[58],"up":[59],"it":[62],"will":[63],"be":[64,114],"used.":[65],"We":[66],"implement":[67],"Rapidly-exploring":[69],"Random":[70],"Trees":[71],"(RRT)":[72],"algorithm":[73],"to":[74,86],"generate":[75],"in":[83],"different":[84],"ways":[85],"obtain":[87],"Finally,":[99],"both":[100],"simple":[101],"problems":[102,109],"like":[103,110],"linear":[104],"puzzles":[105,112],"very":[107],"complicated":[108],"alpha":[111],"can":[113],"solved":[115],"using":[116],"proposed":[118],"algorithm.":[121],"These":[122],"examples":[123],"tested":[125],"through":[126],"simulation.":[127]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2016-10-28T00:00:00"}