{"id":"https://openalex.org/W4401386941","doi":"https://doi.org/10.1109/lra.2024.3440096","title":"Non-Prehensile Object Transport by Nonholonomic Robots Connected by Linear Deformable Elements","display_name":"Non-Prehensile Object Transport by Nonholonomic Robots Connected by Linear Deformable Elements","publication_year":2024,"publication_date":"2024-08-07","ids":{"openalex":"https://openalex.org/W4401386941","doi":"https://doi.org/10.1109/lra.2024.3440096"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3440096","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3440096","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/A5062837920","display_name":"Hui Zhi","orcid":"https://orcid.org/0000-0002-0740-3270"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Hui Zhi","raw_affiliation_strings":["Department of Mechanical Engineering, The Hong Kong Polytechnic University (PolyU), KLN, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-0740-3270","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The Hong Kong Polytechnic University (PolyU), KLN, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021577566","display_name":"Bin Zhang","orcid":"https://orcid.org/0000-0001-6860-1951"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Bin Zhang","raw_affiliation_strings":["Department of Mechanical Engineering, The Hong Kong Polytechnic University (PolyU), KLN, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-6860-1951","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The Hong Kong Polytechnic University (PolyU), KLN, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079424145","display_name":"Jiaming Qi","orcid":"https://orcid.org/0000-0003-2655-6835"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jiaming Qi","raw_affiliation_strings":["Centre for Transformative Garment Production of the University of Hong Kong, NT, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0003-2655-6835","affiliations":[{"raw_affiliation_string":"Centre for Transformative Garment Production of the University of Hong Kong, NT, Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102877320","display_name":"Jose Guadalupe Romero","orcid":"https://orcid.org/0000-0001-7505-0182"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jose Guadalupe Romero","raw_affiliation_strings":["Instituto Tecnológico Autónomo de México, Mexico City, Mexico"],"raw_orcid":"https://orcid.org/0000-0001-7505-0182","affiliations":[{"raw_affiliation_string":"Instituto Tecnológico Autónomo de México, Mexico City, Mexico","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071128556","display_name":"Xiaodong Shao","orcid":"https://orcid.org/0000-0003-2640-5594"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaodong Shao","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2640-5594","affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I146655781","display_name":"University of Liverpool","ror":"https://ror.org/04xs57h96","country_code":"GB","type":"education","lineage":["https://openalex.org/I146655781"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["Department of Computer Science, University of Liverpool, Liverpool, U.K"],"raw_orcid":"https://orcid.org/0000-0001-5255-5559","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Liverpool, Liverpool, U.K","institution_ids":["https://openalex.org/I146655781"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056734737","display_name":"David Navarro-Alarc\u00f3n","orcid":"https://orcid.org/0000-0002-3426-6638"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"David Navarro-Alarcon","raw_affiliation_strings":["Department of Mechanical Engineering, The Hong Kong Polytechnic University (PolyU), KLN, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-3426-6638","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The Hong Kong Polytechnic University (PolyU), KLN, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0351,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.72299771,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"9","issue":"10","first_page":"8651","last_page":"8658"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994000196456909,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994000196456909,"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":0.9990000128746033,"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":0.9984999895095825,"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/prehensile-tail","display_name":"Prehensile tail","score":0.9355122447013855},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.7235567569732666},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5450416803359985},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5172805786132812},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4724079966545105},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3488112688064575},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31651410460472107},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19449985027313232},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.07990944385528564},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.07319235801696777}],"concepts":[{"id":"https://openalex.org/C136380597","wikidata":"https://www.wikidata.org/wiki/Q10508905","display_name":"Prehensile tail","level":2,"score":0.9355122447013855},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.7235567569732666},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5450416803359985},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5172805786132812},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4724079966545105},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3488112688064575},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31651410460472107},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19449985027313232},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.07990944385528564},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.07319235801696777}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3440096","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3440096","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:ira.lib.polyu.edu.hk:10397/113884","is_oa":false,"landing_page_url":"http://hdl.handle.net/10397/113884","pdf_url":null,"source":{"id":"https://openalex.org/S4306400205","display_name":"PolyU Institutional Research Archive (Hong Kong Polytechnic University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I14243506","host_organization_name":"Hong Kong Polytechnic University","host_organization_lineage":["https://openalex.org/I14243506"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Journal/Magazine 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/W1537022493","https://openalex.org/W2008056655","https://openalex.org/W2123871098","https://openalex.org/W2202063402","https://openalex.org/W2564480083","https://openalex.org/W2768409770","https://openalex.org/W2805026780","https://openalex.org/W2805031923","https://openalex.org/W2950170662","https://openalex.org/W2965291511","https://openalex.org/W2974427457","https://openalex.org/W3010694140","https://openalex.org/W3018490575","https://openalex.org/W3024987186","https://openalex.org/W3038935994","https://openalex.org/W3089932849","https://openalex.org/W3212494843","https://openalex.org/W4200005991","https://openalex.org/W4206116921","https://openalex.org/W4312192217","https://openalex.org/W4312296398","https://openalex.org/W4312962598","https://openalex.org/W4360897637","https://openalex.org/W4380576974","https://openalex.org/W4387623856","https://openalex.org/W4393032844","https://openalex.org/W6803156713"],"related_works":["https://openalex.org/W2465876097","https://openalex.org/W2028231052","https://openalex.org/W2768832826","https://openalex.org/W3166169123","https://openalex.org/W2010045274","https://openalex.org/W2552641899","https://openalex.org/W2105329304","https://openalex.org/W2998125923","https://openalex.org/W197901881","https://openalex.org/W1551001629"],"abstract_inverted_index":{"This":[0],"letter":[1],"presents":[2],"a":[3,20,27,47,80,138,164],"new":[4],"method":[5],"to":[6,30,151],"automatically":[7],"transport":[8,109,176],"objects":[9,33],"with":[10,168],"mobile":[11],"robots":[12,24],"via":[13],"non-prehensile":[14,116],"actions.":[15],"Our":[16],"proposed":[17,160],"approach":[18],"utilizes":[19,143],"pair":[21],"of":[22,34,92,100,128,158],"nonholonomic":[23],"connected":[25],"by":[26,79,103,113,124,137],"deformable":[28,74,130],"tube":[29],"efficiently":[31],"manipulate":[32],"irregular":[35],"shapes":[36],"toward":[37],"target":[38],"locations.":[39],"To":[40,154],"autonomously":[41],"perform":[42],"this":[43],"task,":[44],"we":[45,162],"develop":[46],"local":[48],"integrated":[49],"planning":[50],"and":[51,63,147],"control":[52,70],"strategy":[53],"that":[54,95,142],"solves":[55],"the":[56,67,90,97,101,104,115,125,129,144,148,152,156,159],"problem":[57,86,110],"in":[58],"two":[59],"steps":[60],"(viz.":[61],"enveloping":[62,85],"transport)":[64],"based":[65],"on":[66],"model":[68],"predictive":[69],"(MPC)":[71],"framework.":[72],"The":[73,84,108],"underactuated":[75],"system":[76],"is":[77,87,111,135],"simplified":[78],"linear":[81],"kinematic":[82],"model.":[83],"formulated":[88],"as":[89,119],"minimization":[91],"multiple":[93,173],"criteria":[94],"represent":[96],"enclosing":[98],"error":[99],"object":[102,175],"variable":[105],"morphology":[106],"system.":[107,131],"tackled":[112],"formulating":[114],"dragging":[117],"action":[118],"an":[120],"inequality":[121],"constraint":[122],"specified":[123],"body":[126],"frame":[127],"Reactive":[132],"obstacle":[133],"avoidance":[134],"ensured":[136],"maximum":[139],"margin-based":[140],"term":[141],"system's":[145],"geometry":[146],"feedback":[149],"proximity":[150],"environment.":[153],"validate":[155],"performance":[157],"methodology,":[161],"report":[163],"detailed":[165],"experimental":[166],"study":[167],"vision-guided":[169],"robotic":[170],"prototypes":[171],"conducting":[172],"autonomous":[174],"tasks.":[177]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":3}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}