{"id":"https://openalex.org/W2585588704","doi":"https://doi.org/10.1109/lra.2017.2708134","title":"Closed-Chain Manipulation of Large Objects by Multi-Arm Robotic Systems","display_name":"Closed-Chain Manipulation of Large Objects by Multi-Arm Robotic Systems","publication_year":2017,"publication_date":"2017-05-25","ids":{"openalex":"https://openalex.org/W2585588704","doi":"https://doi.org/10.1109/lra.2017.2708134","mag":"2585588704"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2708134","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2708134","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1612.01650","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Zhou Xian","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Zhou Xian","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Puttichai Lertkultanon","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Puttichai Lertkultanon","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":null,"display_name":"Quang-Cuong Pham","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Quang-Cuong Pham","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":4.6888,"has_fulltext":false,"cited_by_count":57,"citation_normalized_percentile":{"value":0.95028478,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"2","issue":"4","first_page":"1832","last_page":"1839"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8144999742507935,"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":0.8144999742507935,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.11209999769926071,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.014999999664723873,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.656000018119812},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6523000001907349},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.492000013589859},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.4577000141143799},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4456000030040741},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.42660000920295715},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.39149999618530273},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3700999915599823},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36059999465942383}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.656000018119812},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6523000001907349},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5884000062942505},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.492000013589859},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.4577000141143799},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4560000002384186},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4456000030040741},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42660000920295715},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40549999475479126},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.39149999618530273},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.375},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3700999915599823},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36059999465942383},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34709998965263367},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.3431999981403351},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.34150001406669617},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.3377000093460083},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.334199994802475},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.3301999866962433},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.32510000467300415},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.3246999979019165},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.30820000171661377},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.29190000891685486},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.2854999899864197},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2851000130176544},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.27880001068115234},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2606000006198883},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.25040000677108765},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2500999867916107}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2017.2708134","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2708134","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1612.01650","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1612.01650","pdf_url":"https://arxiv.org/pdf/1612.01650","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1612.01650","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1612.01650","pdf_url":"https://arxiv.org/pdf/1612.01650","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320751","display_name":"Ministry of Education - Singapore","ror":"https://ror.org/01kcva023"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W31081353","https://openalex.org/W143844323","https://openalex.org/W1424654272","https://openalex.org/W1777089620","https://openalex.org/W1863997888","https://openalex.org/W1973484256","https://openalex.org/W1978301848","https://openalex.org/W2009124734","https://openalex.org/W2036411373","https://openalex.org/W2045851525","https://openalex.org/W2068638097","https://openalex.org/W2088078109","https://openalex.org/W2101902009","https://openalex.org/W2103776982","https://openalex.org/W2119562960","https://openalex.org/W2128990851","https://openalex.org/W2135307310","https://openalex.org/W2141664020","https://openalex.org/W2142724466","https://openalex.org/W2163426622","https://openalex.org/W2165375872","https://openalex.org/W2171266831","https://openalex.org/W2222935140","https://openalex.org/W2228851565","https://openalex.org/W2275744966","https://openalex.org/W2563784145","https://openalex.org/W4245155680","https://openalex.org/W4247031047","https://openalex.org/W6637287909","https://openalex.org/W6766636623","https://openalex.org/W6903373631"],"related_works":[],"abstract_inverted_index":{"Closed":[0],"kinematic":[1],"chains":[2],"are":[3,48],"created":[4],"whenever":[5],"multiple":[6],"robot":[7,20],"arms":[8],"concurrently":[9],"manipulate":[10],"a":[11,33,61,71,76,91],"single":[12],"object.":[13],"The":[14],"closed-chain":[15,85],"constraint,":[16],"when":[17],"coupled":[18],"with":[19,55],"joint":[21],"limits,":[22],"dramatically":[23],"changes":[24],"the":[25,28,44,65,69],"connectivity":[26],"of":[27,43],"configuration":[29,45],"space.":[30],"We":[31],"propose":[32],"regrasping":[34],"move,":[35,53],"termed":[36],"\u201cIK-switch,\u201d":[37],"which":[38,94],"allows":[39],"efficiently":[40],"bridging":[41],"components":[42],"space":[46],"that":[47],"otherwise":[49,96],"mutually":[50],"disconnected.":[51],"This":[52],"combined":[54],"several":[56],"other":[57],"developments,":[58],"such":[59,88],"as":[60,89],"method":[62],"to":[63,82,98],"stabilize":[64],"manipulated":[66],"object":[67],"using":[68,100],"environment,":[70],"new":[72],"tree":[73],"structure,":[74],"and":[75],"compliant":[77],"control":[78],"scheme,":[79],"enables":[80],"us":[81],"address":[83],"complex":[84],"manipulation":[86],"tasks,":[87],"flipping":[90],"chair":[92],"frame,":[93],"is":[95],"impossible":[97],"realize":[99],"existing":[101],"multi-arm":[102],"planning":[103],"methods.":[104]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":10}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2017-02-10T00:00:00"}
