{"id":"https://openalex.org/W4406947041","doi":"https://doi.org/10.1109/lra.2025.3536207","title":"Semi-Autonomous Teleoperation Using Differential Flatness of a Crane Robot for Aircraft In-Wing Inspection","display_name":"Semi-Autonomous Teleoperation Using Differential Flatness of a Crane Robot for Aircraft In-Wing Inspection","publication_year":2025,"publication_date":"2025-01-29","ids":{"openalex":"https://openalex.org/W4406947041","doi":"https://doi.org/10.1109/lra.2025.3536207"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3536207","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3536207","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/A5021252253","display_name":"Wade Marquette","orcid":"https://orcid.org/0000-0002-5654-4862"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wade Marquette","raw_affiliation_strings":["Mechanical Engineering Department, University of Washington, Seattle, WA, USA","Mechanical Eng. Dept., University of Washington, Seattle, WA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5654-4862","affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Mechanical Eng. Dept., University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051773983","display_name":"K.-J. Schultz","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kyle Schultz","raw_affiliation_strings":["Mechanical Engineering Department, University of Washington, Seattle, WA, USA","Mechanical Eng. Dept., University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Mechanical Eng. Dept., University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Vamsi Jonnalagadda","orcid":"https://orcid.org/0000-0003-3588-294X"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vamsi Jonnalagadda","raw_affiliation_strings":["Mechanical Engineering Department, University of Washington, Seattle, WA, USA","Mechanical Eng. Dept., University of Washington, Seattle, WA, USA"],"raw_orcid":"https://orcid.org/0000-0003-3588-294X","affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Mechanical Eng. Dept., University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110259042","display_name":"Benjamin C.Y. Wong","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Benjamin Wong","raw_affiliation_strings":["Mechanical Engineering Department, University of Washington, Seattle, WA, USA","Mechanical Eng. Dept., University of Washington, Seattle, WA, USA"],"raw_orcid":"https://orcid.org/0000-0002-9543-9782","affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Mechanical Eng. Dept., University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041163608","display_name":"Joseph L. Garbini","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joseph Garbini","raw_affiliation_strings":["Mechanical Engineering Department, University of Washington, Seattle, WA, USA","Mechanical Eng. Dept., University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Mechanical Eng. Dept., University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070381429","display_name":"Santosh Devasia","orcid":"https://orcid.org/0000-0002-5823-5123"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Santosh Devasia","raw_affiliation_strings":["Mechanical Engineering Department, University of Washington, Seattle, WA, USA","Mechanical Eng. Dept., University of Washington, Seattle, WA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5823-5123","affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Mechanical Eng. Dept., University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I201448701"],"apc_list":null,"apc_paid":null,"fwci":1.3887,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.78043322,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":"10","issue":"3","first_page":"2742","last_page":"2749"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9850999712944031,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9850999712944031,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9769999980926514,"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":0.9735999703407288,"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/teleoperation","display_name":"Teleoperation","score":0.6471751928329468},{"id":"https://openalex.org/keywords/flatness","display_name":"Flatness (cosmology)","score":0.5796220898628235},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5358335375785828},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5154784321784973},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.5082530379295349},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.46583667397499084},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3463497757911682},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3334430456161499},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3254058361053467},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.3240020275115967},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32255682349205017},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2997329831123352},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08922487497329712}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.6471751928329468},{"id":"https://openalex.org/C2778530986","wikidata":"https://www.wikidata.org/wiki/Q5457948","display_name":"Flatness (cosmology)","level":3,"score":0.5796220898628235},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5358335375785828},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5154784321784973},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.5082530379295349},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.46583667397499084},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3463497757911682},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3334430456161499},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3254058361053467},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.3240020275115967},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32255682349205017},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2997329831123352},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08922487497329712},{"id":"https://openalex.org/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3536207","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3536207","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":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.6899999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1519284221","https://openalex.org/W2001482959","https://openalex.org/W2065297540","https://openalex.org/W2081296876","https://openalex.org/W2125188427","https://openalex.org/W2488329990","https://openalex.org/W2565031521","https://openalex.org/W2945075306","https://openalex.org/W3004383912","https://openalex.org/W3005922959","https://openalex.org/W3036302049","https://openalex.org/W3036423690","https://openalex.org/W3090610463","https://openalex.org/W3207947440","https://openalex.org/W3208807190","https://openalex.org/W3217010938","https://openalex.org/W4205173976","https://openalex.org/W4221026171","https://openalex.org/W4285507689","https://openalex.org/W4313587987","https://openalex.org/W4362714327","https://openalex.org/W4385975664","https://openalex.org/W4395069583","https://openalex.org/W4406947041","https://openalex.org/W6749738678","https://openalex.org/W6795455896"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2770942502","https://openalex.org/W4281943815","https://openalex.org/W2364738582","https://openalex.org/W2160932924","https://openalex.org/W2082997813","https://openalex.org/W2296377172","https://openalex.org/W2946737911"],"abstract_inverted_index":{"Visual":[0],"inspection":[1,36,130],"of":[2,28,39,45,67,74,83,93,106,135],"confined":[3,41],"spaces":[4],"such":[5],"as":[6],"aircraft":[7,30],"wings":[8],"is":[9,77],"ergonomically":[10],"challenging":[11],"for":[12,87,97],"human":[13],"mechanics.":[14],"This":[15],"work":[16,76],"presents":[17],"a":[18,52],"novel":[19],"crane":[20,47],"robot":[21,48],"that":[22,116],"can":[23,49],"travel":[24],"the":[25,29,40,46,56,62,68,80,84,94,104,117,133,142,149,154,165],"entire":[26],"span":[27],"wing,":[31],"enabling":[32],"mechanics":[33],"to":[34,55,58,78,123,141,152,164],"perform":[35],"from":[37],"outside":[38],"space.":[42],"However,":[43],"teleoperation":[44,113],"still":[50],"be":[51],"challenge":[53],"due":[54,151],"need":[57],"avoid":[59],"obstacles":[60],"in":[61,99],"workspace":[63],"and":[64],"potential":[65],"oscillations":[66,109],"camera":[69,95],"payload.":[70],"The":[71],"main":[72],"contribution":[73],"this":[75],"exploit":[79],"differential":[81],"flatness":[82],"crane-robot":[85],"dynamics":[86],"designing":[88],"reduced-oscillation,":[89],"collision-free":[90],"time":[91],"trajectories":[92],"payload":[96],"use":[98,134],"teleoperation.":[100],"Autonomous":[101],"experiments":[102,114],"verify":[103],"efficacy":[105],"removing":[107],"undesired":[108],"by":[110,160],"89%.":[111],"Furthermore,":[112],"demonstrate":[115],"controller":[118],"eliminated":[119],"collisions":[120],"(from":[121],"33%":[122],"0%)":[124],"when":[125,139,162],"12":[126],"participants":[127],"performed":[128],"an":[129],"task":[131,158],"with":[132],"proposed":[136,155],"trajectory":[137],"selection":[138],"compared":[140,163],"case":[143,166],"without":[144,167],"it.":[145,168],"Moreover,":[146],"even":[147],"discounting":[148],"failures":[150],"collisions,":[153],"approach":[156],"improved":[157],"efficiency":[159],"18.7%":[161]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}