{"id":"https://openalex.org/W2912974074","doi":"https://doi.org/10.1109/lra.2019.2897172","title":"Object-Centered Teleoperation of Mobile Manipulators With Remote Center of Motion Constraint","display_name":"Object-Centered Teleoperation of Mobile Manipulators With Remote Center of Motion Constraint","publication_year":2019,"publication_date":"2019-02-05","ids":{"openalex":"https://openalex.org/W2912974074","doi":"https://doi.org/10.1109/lra.2019.2897172","mag":"2912974074"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2897172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2897172","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":["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/A5028345730","display_name":"Manuel A. Ruiz Garcia","orcid":"https://orcid.org/0000-0001-8827-8469"},"institutions":[{"id":"https://openalex.org/I171543936","display_name":"Free University of Bozen-Bolzano","ror":"https://ror.org/012ajp527","country_code":"IT","type":"education","lineage":["https://openalex.org/I171543936"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manuel A. Ruiz Garcia","raw_affiliation_strings":["Faculty of Science and Technology, Free University of Bozen-Bolzano, Bolzano, Italy"],"raw_orcid":"https://orcid.org/0000-0001-8827-8469","affiliations":[{"raw_affiliation_string":"Faculty of Science and Technology, Free University of Bozen-Bolzano, Bolzano, Italy","institution_ids":["https://openalex.org/I171543936"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012595152","display_name":"Rafael A. Rojas","orcid":"https://orcid.org/0000-0002-3668-7719"},"institutions":[{"id":"https://openalex.org/I171543936","display_name":"Free University of Bozen-Bolzano","ror":"https://ror.org/012ajp527","country_code":"IT","type":"education","lineage":["https://openalex.org/I171543936"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Rafael A. Rojas","raw_affiliation_strings":["Faculty of Science and Technology, Free University of Bozen-Bolzano, Bolzano, Italy"],"raw_orcid":"https://orcid.org/0000-0002-3668-7719","affiliations":[{"raw_affiliation_string":"Faculty of Science and Technology, Free University of Bozen-Bolzano, Bolzano, Italy","institution_ids":["https://openalex.org/I171543936"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016025950","display_name":"Fiora Pirri","orcid":"https://orcid.org/0000-0001-8665-9807"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fiora Pirri","raw_affiliation_strings":["Department of Computer, Control, and Management Engineering \u201cA. Ruberti,\u201d, Sapienza University of Rome, Rome, Italy","Department of Computer, Control, and Management Engineering \"A. Ruberti,\", Sapienza University of Rome, Rome, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer, Control, and Management Engineering \u201cA. Ruberti,\u201d, Sapienza University of Rome, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Department of Computer, Control, and Management Engineering \"A. Ruberti,\", Sapienza University of Rome, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8674,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.6824764,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"4","issue":"2","first_page":"1745","last_page":"1752"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":1.0,"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":0.9991999864578247,"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":0.9976000189781189,"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/teleoperation","display_name":"Teleoperation","score":0.941060483455658},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6586520671844482},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5675337910652161},{"id":"https://openalex.org/keywords/situation-awareness","display_name":"Situation awareness","score":0.557365357875824},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5264871120452881},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.504196047782898},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.49863290786743164},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.49612078070640564},{"id":"https://openalex.org/keywords/workload","display_name":"Workload","score":0.4909539520740509},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.47002363204956055},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.467357873916626},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.42498496174812317},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.4130706191062927},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4123355746269226},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4067314863204956},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.360250324010849},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3545570373535156},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28542932868003845},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.28265640139579773},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19224107265472412},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.09264028072357178}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.941060483455658},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6586520671844482},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5675337910652161},{"id":"https://openalex.org/C145804949","wikidata":"https://www.wikidata.org/wiki/Q478123","display_name":"Situation awareness","level":2,"score":0.557365357875824},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5264871120452881},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.504196047782898},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.49863290786743164},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.49612078070640564},{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.4909539520740509},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.47002363204956055},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.467357873916626},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.42498496174812317},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.4130706191062927},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4123355746269226},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4067314863204956},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.360250324010849},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3545570373535156},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28542932868003845},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28265640139579773},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19224107265472412},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.09264028072357178},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2019.2897172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2897172","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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:iris.uniroma1.it:11573/1247063","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/1247063","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4000000059604645,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W129751876","https://openalex.org/W156408581","https://openalex.org/W801233562","https://openalex.org/W1598693565","https://openalex.org/W1970494767","https://openalex.org/W1989169659","https://openalex.org/W1997333030","https://openalex.org/W1997696996","https://openalex.org/W2005970795","https://openalex.org/W2014870037","https://openalex.org/W2019606703","https://openalex.org/W2024721056","https://openalex.org/W2025302331","https://openalex.org/W2035491663","https://openalex.org/W2049410986","https://openalex.org/W2094954979","https://openalex.org/W2104332709","https://openalex.org/W2108480458","https://openalex.org/W2121431541","https://openalex.org/W2133071171","https://openalex.org/W2134846016","https://openalex.org/W2134911466","https://openalex.org/W2149192758","https://openalex.org/W2154847670","https://openalex.org/W2177274602","https://openalex.org/W2294389641","https://openalex.org/W2296280963","https://openalex.org/W2411959940","https://openalex.org/W2412073014","https://openalex.org/W2418787528","https://openalex.org/W2500439215","https://openalex.org/W2531282941","https://openalex.org/W2561388535","https://openalex.org/W2562819519","https://openalex.org/W2565233142","https://openalex.org/W2671436184","https://openalex.org/W2765142410","https://openalex.org/W2773707091","https://openalex.org/W2785527852","https://openalex.org/W2796481944","https://openalex.org/W2964095385","https://openalex.org/W3023071550","https://openalex.org/W3103803758","https://openalex.org/W3104681832","https://openalex.org/W6622824336","https://openalex.org/W6635771752","https://openalex.org/W6682150299"],"related_works":["https://openalex.org/W1998474857","https://openalex.org/W4384694324","https://openalex.org/W2316625570","https://openalex.org/W2130149817","https://openalex.org/W1974625181","https://openalex.org/W2003127751","https://openalex.org/W2063860163","https://openalex.org/W2399839122","https://openalex.org/W3209776668","https://openalex.org/W2379110912"],"abstract_inverted_index":{"In":[0,30,58],"the":[1,16,23,27,31,49,67,76,86,106,109,121,124],"context":[2],"of":[3,33,45,75,79,88,108,123],"mobile":[4],"manipulator":[5],"teleoperation,":[6],"intuitive":[7],"control":[8,39,63,69,91],"interfaces":[9],"are":[10],"fundamental":[11],"not":[12],"only":[13],"to":[14,21,94],"reduce":[15],"operator's":[17],"workload,":[18],"but":[19],"also":[20],"improve":[22],"situational":[24],"awareness":[25],"during":[26],"task":[28,119],"execution.":[29],"case":[32],"object":[34],"exploration":[35],"tasks,":[36],"different":[37],"operator":[38],"units":[40],"have":[41],"been":[42],"proposed,":[43],"many":[44],"them":[46],"inspired":[47],"by":[48,105],"augmented":[50],"reality,":[51,53],"virtual":[52],"and":[54,102],"computer":[55],"games":[56],"contexts.":[57],"this":[59],"work,":[60],"one":[61],"such":[62,98],"interface,":[64],"known":[65],"as":[66,99],"orbit":[68],"mode,":[70],"is":[71],"formalized":[72],"in":[73],"terms":[74],"remote":[77],"center":[78],"motion":[80],"constraints.":[81],"This":[82],"interface":[83],"allows":[84],"for":[85],"definition":[87],"a":[89,116],"novel":[90],"mechanism":[92],"able":[93],"take":[95],"additional":[96],"constraints,":[97],"obstacle":[100],"avoidance":[101],"manipulation":[103],"dexterity,":[104],"exploitation":[107],"system":[110],"redundancies.":[111],"Experimental":[112],"results":[113],"obtained":[114],"from":[115],"real":[117],"teleoperation":[118],"confirm":[120],"validity":[122],"approach.":[125]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2}],"updated_date":"2026-08-12T21:12:35.861297","created_date":"2025-10-10T00:00:00"}
