{"id":"https://openalex.org/W4388819993","doi":"https://doi.org/10.1109/lra.2023.3334677","title":"Dynamic Mobile Manipulation via Whole-Body Bilateral Teleoperation of a Wheeled Humanoid","display_name":"Dynamic Mobile Manipulation via Whole-Body Bilateral Teleoperation of a Wheeled Humanoid","publication_year":2023,"publication_date":"2023-11-20","ids":{"openalex":"https://openalex.org/W4388819993","doi":"https://doi.org/10.1109/lra.2023.3334677"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3334677","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3334677","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/A5023281911","display_name":"Amartya Purushottam","orcid":"https://orcid.org/0000-0003-1225-8466"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amartya Purushottam","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Illinois Urbana-Champaign, Champaign, IL, USA"],"raw_orcid":"https://orcid.org/0000-0003-1225-8466","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Illinois Urbana-Champaign, Champaign, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032898374","display_name":"Christopher Xu","orcid":"https://orcid.org/0009-0007-2067-8408"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher Xu","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Illinois Urbana-Champaign, Champaign, IL, USA"],"raw_orcid":"https://orcid.org/0009-0007-2067-8408","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Illinois Urbana-Champaign, Champaign, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012279196","display_name":"Yeongtae Jung","orcid":"https://orcid.org/0000-0002-6278-829X"},"institutions":[{"id":"https://openalex.org/I80611190","display_name":"Jeonbuk National University","ror":"https://ror.org/05q92br09","country_code":"KR","type":"education","lineage":["https://openalex.org/I80611190"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yeongtae Jung","raw_affiliation_strings":["Department of Mechanical System Engineering and Advanced Transportation Machinery Research Center, Jeonbuk National University, Jeollabuk-do, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-6278-829X","affiliations":[{"raw_affiliation_string":"Department of Mechanical System Engineering and Advanced Transportation Machinery Research Center, Jeonbuk National University, Jeollabuk-do, Republic of Korea","institution_ids":["https://openalex.org/I80611190"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061064898","display_name":"Jo\u00e3o Ramos","orcid":"https://orcid.org/0000-0002-6169-2763"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joao Ramos","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Illinois Urbana-Champaign, Champaign, IL, USA","Department of Mechanical Science and Engineering, University of Illinois Urbana-Champaign, Champaign, IL, USA"],"raw_orcid":"https://orcid.org/0000-0002-6169-2763","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Illinois Urbana-Champaign, Champaign, IL, USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Department of Mechanical Science and Engineering, University of Illinois Urbana-Champaign, Champaign, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5817,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.82035928,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"9","issue":"2","first_page":"1214","last_page":"1221"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9961000084877014,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9876999855041504,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.9326563477516174},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8249742388725281},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7323687076568604},{"id":"https://openalex.org/keywords/retargeting","display_name":"Retargeting","score":0.7070348262786865},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.553804337978363},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5330138802528381},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5144531726837158},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.48654475808143616},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46083906292915344},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.41252946853637695},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38347265124320984},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.315322607755661},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28629356622695923}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9326563477516174},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8249742388725281},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7323687076568604},{"id":"https://openalex.org/C2780575108","wikidata":"https://www.wikidata.org/wiki/Q7316652","display_name":"Retargeting","level":2,"score":0.7070348262786865},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.553804337978363},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5330138802528381},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5144531726837158},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.48654475808143616},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46083906292915344},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.41252946853637695},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38347265124320984},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.315322607755661},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28629356622695923},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3334677","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3334677","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6857678822","display_name":null,"funder_award_id":"IIS-2024775","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1992338761","https://openalex.org/W2001757193","https://openalex.org/W2159220301","https://openalex.org/W2164395348","https://openalex.org/W2320337429","https://openalex.org/W2739203437","https://openalex.org/W2806547618","https://openalex.org/W2896690662","https://openalex.org/W2959825853","https://openalex.org/W2961649484","https://openalex.org/W3010920830","https://openalex.org/W3047351634","https://openalex.org/W3127067343","https://openalex.org/W3138392552","https://openalex.org/W3148610713","https://openalex.org/W3196252681","https://openalex.org/W4205201328","https://openalex.org/W4221164057","https://openalex.org/W4312806087","https://openalex.org/W4313067142","https://openalex.org/W4378697124","https://openalex.org/W4383066597"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2094105667","https://openalex.org/W2097347938","https://openalex.org/W2164858976","https://openalex.org/W2970545857","https://openalex.org/W4311378573","https://openalex.org/W4315881361","https://openalex.org/W4318953217"],"abstract_inverted_index":{"Humanoid":[0],"robots":[1],"have":[2],"the":[3,64,85,88,99,142,154,157],"potential":[4],"to":[5,139,160],"help":[6],"human":[7],"workers":[8],"by":[9],"realizing":[10],"physically":[11],"demanding":[12],"manipulation":[13,82],"tasks":[14,25],"such":[15,24],"as":[16,26],"moving":[17,126],"large":[18],"boxes":[19,136],"within":[20],"warehouses.":[21],"We":[22],"define":[23],"Dynamic":[27],"Mobile":[28],"Manipulation":[29],"(DMM).":[30],"This":[31],"letter":[32,86],"presents":[33],"a":[34,47,51,57,67,77,124,167,171],"framework":[35,49],"for":[36,81,94,104],"DMM":[37,105],"via":[38],"whole-body":[39,91],"teleoperation,":[40],"built":[41],"upon":[42],"three":[43],"key":[44],"contributions:":[45],"Firstly,":[46],"teleoperation":[48],"employing":[50],"Human":[52],"Machine":[53],"Interface":[54],"(HMI)":[55],"and":[56,76,102,111,134,150,165],"bi-wheeled":[58],"humanoid,":[59],"SATYRR,":[60],"is":[61],"proposed.":[62],"Secondly,":[63],"study":[65],"introduces":[66],"dynamic":[68],"locomotion":[69],"mapping,":[70],"utilizing":[71],"human-robot":[72],"reduced":[73],"order":[74],"models,":[75],"kinematic":[78],"retargeting":[79],"strategy":[80],"tasks.":[83,115],"Additionally,":[84],"discusses":[87],"role":[89],"of":[90,121,131,141,174],"haptic":[92],"feedback":[93],"wheeled":[95],"humanoid":[96],"control.":[97],"Finally,":[98],"system's":[100],"effectiveness":[101],"mappings":[103],"are":[106],"validated":[107],"through":[108],"locomanipulation":[109],"experiments":[110],"heavy":[112,168],"box":[113,169],"pushing":[114,135],"Here":[116],"we":[117],"show":[118],"two":[119],"forms":[120],"DMM:":[122],"grasping":[123],"target":[125],"at":[127,170],"an":[128],"average":[129],"speed":[130],"0.4":[132],"m/s,":[133],"weighing":[137],"up":[138],"105%":[140],"robot's":[143],"weight.":[144],"By":[145],"simultaneously":[146],"adjusting":[147],"their":[148,152],"pitch":[149],"using":[151],"arms,":[153],"pilot":[155],"adjusts":[156],"robot":[158],"pose":[159],"apply":[161],"larger":[162],"contact":[163],"forces":[164],"move":[166],"constant":[172],"velocity":[173],"0.2":[175],"m/s.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":1}],"updated_date":"2026-08-12T21:12:35.861297","created_date":"2025-10-10T00:00:00"}
