{"id":"https://openalex.org/W7154962005","doi":"https://doi.org/10.1109/lra.2026.3685936","title":"1D2L: One-Arm Drag and Two-Arm Lift for Manipulating Large and Heavy Tabletop Objects","display_name":"1D2L: One-Arm Drag and Two-Arm Lift for Manipulating Large and Heavy Tabletop Objects","publication_year":2026,"publication_date":"2026-04-20","ids":{"openalex":"https://openalex.org/W7154962005","doi":"https://doi.org/10.1109/lra.2026.3685936"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3685936","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3685936","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/A5111295084","display_name":"Meijie Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meijie Zhou","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103182090","display_name":"Jianjun Yuan","orcid":"https://orcid.org/0000-0003-1997-6962"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianjun Yuan","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-1997-6962","affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084497518","display_name":"Zhengtao Hu","orcid":"https://orcid.org/0000-0002-7124-6089"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengtao Hu","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-7124-6089","affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134048021","display_name":"Sheng Bao","orcid":"https://orcid.org/0000-0001-5584-5164"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sheng Bao","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-5584-5164","affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075620600","display_name":"Liang Du","orcid":"https://orcid.org/0000-0003-1297-3865"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Du","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-1297-3865","affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.55042527,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"6","first_page":"7262","last_page":"7269"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.33309999108314514,"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":0.33309999108314514,"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/T10789","display_name":"Interactive and Immersive Displays","score":0.06599999964237213,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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":0.065700002014637,"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/lift","display_name":"Lift (data mining)","score":0.5608999729156494},{"id":"https://openalex.org/keywords/drag","display_name":"Drag","score":0.40959998965263367},{"id":"https://openalex.org/keywords/lift-to-drag-ratio","display_name":"Lift-to-drag ratio","score":0.325300008058548},{"id":"https://openalex.org/keywords/drag-coefficient","display_name":"Drag coefficient","score":0.24699999392032623}],"concepts":[{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.5608999729156494},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44179999828338623},{"id":"https://openalex.org/C72921944","wikidata":"https://www.wikidata.org/wiki/Q206621","display_name":"Drag","level":2,"score":0.40959998965263367},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3720000088214874},{"id":"https://openalex.org/C107157880","wikidata":"https://www.wikidata.org/wiki/Q845727","display_name":"Lift-to-drag ratio","level":3,"score":0.325300008058548},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28690001368522644},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.27880001068115234},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.2736999988555908},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.26080000400543213},{"id":"https://openalex.org/C72117827","wikidata":"https://www.wikidata.org/wiki/Q1778961","display_name":"Drag coefficient","level":3,"score":0.24699999392032623}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3685936","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3685936","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":0.511933445930481}],"awards":[{"id":"https://openalex.org/G8872335277","display_name":null,"funder_award_id":"62403297","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1977497512","https://openalex.org/W2035412578","https://openalex.org/W2043066056","https://openalex.org/W2119562960","https://openalex.org/W2141664020","https://openalex.org/W2142724466","https://openalex.org/W2147168033","https://openalex.org/W2217960268","https://openalex.org/W2464089775","https://openalex.org/W2909622087","https://openalex.org/W2928801035","https://openalex.org/W3072250194","https://openalex.org/W3090123176","https://openalex.org/W3091256784","https://openalex.org/W3128347907","https://openalex.org/W3204736934","https://openalex.org/W3208842372","https://openalex.org/W4285164516","https://openalex.org/W4285505194","https://openalex.org/W4384300270","https://openalex.org/W4384787630","https://openalex.org/W4389666181","https://openalex.org/W4390968395","https://openalex.org/W4401415458","https://openalex.org/W4409694781","https://openalex.org/W4413918720"],"related_works":[],"abstract_inverted_index":{"Dual-arm":[0],"robots":[1,179],"are":[2,187],"widely":[3],"used":[4],"to":[5,64,162,180],"cooperatively":[6],"manipulate":[7],"large,":[8],"heavy":[9,184],"objects":[10,185],"that":[11,22,177,186],"exceed":[12],"single-arm":[13],"payload":[14],"limits.":[15],"However,":[16],"conventional":[17],"dual-arm":[18,89,143],"planners":[19,50],"typically":[20],"assume":[21],"the":[23,29,38,66,69,100,141,169],"object":[24,39,70,101],"is":[25],"already":[26],"positioned":[27],"within":[28],"reachable":[30],"and":[31,81,114,136],"graspable":[32],"workspace":[33,43],"of":[34,127],"both":[35],"end-effectors.":[36],"When":[37],"lies":[40],"outside":[41],"this":[42,74],"or":[44,53,61,68,183],"in":[45],"an":[46],"awkward":[47],"orientation,":[48],"such":[49],"often":[51],"fail":[52],"require":[54],"additional":[55],"hardware":[56],"(e.g.":[57],"a":[58,84,106,110,117,150,174],"mobile":[59],"base":[60],"overhead":[62],"cranes)":[63],"reposition":[65],"robot":[67],"first.":[71],"To":[72],"address":[73],"limitation,":[75],"we":[76],"present":[77],"1D2L":[78,147,170],"(One-Arm":[79],"Drag":[80],"Two-Arm":[82],"Lift),":[83],"task-and-motion":[85],"planning":[86],"framework":[87,93,171,176],"for":[88,140,153,160],"tabletop":[90,128,155],"manipulation.":[91],"The":[92,121],"extends":[94],"manipulation":[95],"capability":[96],"by":[97],"first":[98],"dragging":[99,159],"with":[102],"one":[103],"arm":[104],"into":[105],"\u201cliftable":[107],"zone\u201d":[108],"on":[109],"horizontal":[111],"planar":[112],"surface,":[113],"then":[115],"performing":[116],"cooperative":[118],"two-arm":[119,165],"lift.":[120,144],"liftable":[122],"zone":[123],"contains":[124],"pre-computed":[125],"set":[126],"poses":[129],"derived":[130],"from":[131],"kinematic":[132],"reachability,":[133],"grasp":[134],"feasibility,":[135],"dynamic":[137],"stability":[138],"requirements":[139],"subsequent":[142,164],"Beyond":[145],"lifting,":[146],"provides":[148],"as":[149],"general":[151],"paradigm":[152],"large-object":[154],"manipulation,":[156],"where":[157],"one-arm":[158],"pre-positioning":[161],"enable":[163],"tasks.":[166],"We":[167],"validate":[168],"experimentally,":[172],"demonstrating":[173],"successful":[175],"enables":[178],"handle":[181],"large":[182],"initially":[188],"unreachable.":[189]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-04-21T00:00:00"}