{"id":"https://openalex.org/W3003902367","doi":"https://doi.org/10.1109/lra.2020.2970644","title":"Time Optimal Motion Planning and Admittance Control for Cooperative Grasping","display_name":"Time Optimal Motion Planning and Admittance Control for Cooperative Grasping","publication_year":2020,"publication_date":"2020-01-30","ids":{"openalex":"https://openalex.org/W3003902367","doi":"https://doi.org/10.1109/lra.2020.2970644","mag":"3003902367"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2970644","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2970644","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":["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/A5040219659","display_name":"Dominik Kaserer","orcid":"https://orcid.org/0000-0002-5567-6089"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dominik Kaserer","raw_affiliation_strings":["B&R Industrial Automation, Eggelsberg, Austria"],"raw_orcid":"https://orcid.org/0000-0002-5567-6089","affiliations":[{"raw_affiliation_string":"B&R Industrial Automation, Eggelsberg, Austria","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049498640","display_name":"Hubert Gattringer","orcid":"https://orcid.org/0000-0002-8846-9051"},"institutions":[{"id":"https://openalex.org/I121883995","display_name":"Johannes Kepler University of Linz","ror":"https://ror.org/052r2xn60","country_code":"AT","type":"education","lineage":["https://openalex.org/I121883995"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Hubert Gattringer","raw_affiliation_strings":["Institute of Robotics, Johannes Kepler University Linz, Linz, Austria"],"raw_orcid":"https://orcid.org/0000-0002-8846-9051","affiliations":[{"raw_affiliation_string":"Institute of Robotics, Johannes Kepler University Linz, Linz, Austria","institution_ids":["https://openalex.org/I121883995"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112392532","display_name":"Andreas M\u00fcller","orcid":"https://orcid.org/0000-0001-5033-340X"},"institutions":[{"id":"https://openalex.org/I121883995","display_name":"Johannes Kepler University of Linz","ror":"https://ror.org/052r2xn60","country_code":"AT","type":"education","lineage":["https://openalex.org/I121883995"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Andreas Muller","raw_affiliation_strings":["Institute of Robotics, Johannes Kepler University Linz, Linz, Austria"],"raw_orcid":"https://orcid.org/0000-0001-5033-340X","affiliations":[{"raw_affiliation_string":"Institute of Robotics, Johannes Kepler University Linz, Linz, Austria","institution_ids":["https://openalex.org/I121883995"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.1276,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.91452708,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"5","issue":"2","first_page":"2216","last_page":"2223"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9947999715805054,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9901999831199646,"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/grasp","display_name":"GRASP","score":0.860876202583313},{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.8598191142082214},{"id":"https://openalex.org/keywords/jerk","display_name":"Jerk","score":0.8445343971252441},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7430369257926941},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.6971099376678467},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6210521459579468},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5935733914375305},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5598545670509338},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5464786291122437},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5095193982124329},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.506269097328186},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4995448589324951},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4838075041770935},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4790012538433075},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.46219688653945923},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4313041567802429},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3921429216861725},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35629594326019287},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3283184766769409},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2996833324432373}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.860876202583313},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.8598191142082214},{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.8445343971252441},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7430369257926941},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.6971099376678467},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6210521459579468},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5935733914375305},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5598545670509338},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5464786291122437},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5095193982124329},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.506269097328186},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4995448589324951},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4838075041770935},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4790012538433075},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.46219688653945923},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4313041567802429},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3921429216861725},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35629594326019287},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3283184766769409},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2996833324432373},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical 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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.2970644","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2970644","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1913694502","https://openalex.org/W1915646632","https://openalex.org/W1968009415","https://openalex.org/W2023617117","https://openalex.org/W2044483173","https://openalex.org/W2106296284","https://openalex.org/W2112474089","https://openalex.org/W2115091574","https://openalex.org/W2135859062","https://openalex.org/W2137490495","https://openalex.org/W2140025449","https://openalex.org/W2142452493","https://openalex.org/W2146683095","https://openalex.org/W2147168033","https://openalex.org/W2154758965","https://openalex.org/W2155612543","https://openalex.org/W2159746877","https://openalex.org/W2521872104","https://openalex.org/W2538677793","https://openalex.org/W2571308524","https://openalex.org/W2792984727","https://openalex.org/W2902825402","https://openalex.org/W2904431744","https://openalex.org/W2964057747","https://openalex.org/W3104826626","https://openalex.org/W4243385754","https://openalex.org/W6749648994"],"related_works":["https://openalex.org/W2975514431","https://openalex.org/W3090651099","https://openalex.org/W847404441","https://openalex.org/W2971446651","https://openalex.org/W2000145385","https://openalex.org/W1974072120","https://openalex.org/W2100529450","https://openalex.org/W2219151122","https://openalex.org/W3082835097","https://openalex.org/W1969497836"],"abstract_inverted_index":{"Cooperative":[0],"grasping":[1,49,118],"refers":[2],"to":[3,61,84,88,142,151],"the":[4,15,20,24,27,33,43,56,79,100,108,144],"situation":[5],"when":[6,69],"an":[7],"object":[8],"is":[9,17,30,76,105,124,138,149],"manipulated":[10],"by":[11,19],"multiple":[12,36],"robots":[13,25,37,115],"and":[14,26,92,140],"grasp":[16],"achieved":[18],"unilateral":[21],"contact":[22,145],"between":[23],"object.":[28,44],"This":[29,65],"different":[31],"from":[32],"cooperation":[34],"of":[35,47,55,99,113],"where":[38],"each":[39],"robot":[40],"rigidly":[41],"grasps":[42],"Motion":[45],"planning":[46],"cooperative":[48,117],"tasks":[50],"involves":[51],"active":[52],"force":[53],"control":[54,133],"interaction":[57],"wrench":[58],"in":[59,86,135],"order":[60,87],"ensure":[62],"stable":[63],"grasp.":[64],"becomes":[66],"particularly":[67],"challenging":[68],"aiming":[70],"at":[71],"time":[72,109,121],"optimal":[73,110,122],"motions.":[74],"It":[75],"crucial":[77],"that":[78],"trajectories":[80],"are":[81],"continuous":[82],"up":[83],"third-order,":[85],"satisfy":[89],"velocity,":[90],"acceleration,":[91],"jerk":[93],"as":[94,96],"well":[95],"torque":[97],"limits":[98],"robots.":[101],"A":[102],"solution":[103],"approach":[104],"presented":[106],"for":[107],"path":[111,123],"following":[112],"two":[114],"performing":[116],"tasks.":[119],"The":[120,147],"determined":[125],"with":[126],"a":[127],"dynamic":[128],"programming":[129],"method.":[130],"An":[131],"admittance":[132],"scheme":[134],"task":[136],"space":[137],"proposed":[139],"used":[141],"generate":[143],"wrench.":[146],"method":[148],"applicable":[150]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}