{"id":"https://openalex.org/W4376851198","doi":"https://doi.org/10.1109/mra.2023.3270222","title":"Collaborative Bimanual Manipulation Using Optimal Motion Adaptation and Interaction Control: Retargeting Human Commands to Feasible Robot Control References","display_name":"Collaborative Bimanual Manipulation Using Optimal Motion Adaptation and Interaction Control: Retargeting Human Commands to Feasible Robot Control References","publication_year":2023,"publication_date":"2023-05-16","ids":{"openalex":"https://openalex.org/W4376851198","doi":"https://doi.org/10.1109/mra.2023.3270222"},"language":"en","primary_location":{"id":"doi:10.1109/mra.2023.3270222","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2023.3270222","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 &amp; Automation Magazine","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.research.ed.ac.uk/en/publications/876071f5-3d82-4ba4-9cb8-2e378a3e50dd","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017005508","display_name":"Ruoshi Wen","orcid":"https://orcid.org/0000-0001-7717-4584"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ruoshi Wen","raw_affiliation_strings":["Institute for Perception, Action, and Behaviour, School of Informatics, University of Edinburgh, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7717-4584","affiliations":[{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011517042","display_name":"Quentin Rouxel","orcid":"https://orcid.org/0000-0001-9829-4585"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Quentin Rouxel","raw_affiliation_strings":["Institute for Perception, Action, and Behaviour, School of Informatics, University of Edinburgh, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0001-9829-4585","affiliations":[{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082553836","display_name":"Michael Mistry","orcid":"https://orcid.org/0000-0003-3979-922X"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Michael Mistry","raw_affiliation_strings":["Institute for Perception, Action, and Behaviour, School of Informatics, University of Edinburgh, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0003-3979-922X","affiliations":[{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100351560","display_name":"Zhibin Li","orcid":"https://orcid.org/0000-0002-6357-7419"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhibin Li","raw_affiliation_strings":["Department of Computer Science, University College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-6357-7419","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University College London, London, U.K","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033685059","display_name":"Carlo Tiseo","orcid":"https://orcid.org/0000-0002-2944-6140"},"institutions":[{"id":"https://openalex.org/I162608824","display_name":"University of Sussex","ror":"https://ror.org/00ayhx656","country_code":"GB","type":"education","lineage":["https://openalex.org/I162608824"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Carlo Tiseo","raw_affiliation_strings":["Institute for Perception, Action, and Behaviour, School of Informatics, University of Edinburgh, Edinburgh, U.K","School of Engineering and Informatics, University of Sussex, Brighton, U.K"],"raw_orcid":"https://orcid.org/0000-0002-2944-6140","affiliations":[{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"School of Engineering and Informatics, University of Sussex, Brighton, U.K","institution_ids":["https://openalex.org/I162608824"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.9124,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.85721063,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"31","issue":"4","first_page":"68","last_page":"80"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9936000108718872,"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"}},"topics":[{"id":"https://openalex.org/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9936000108718872,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9922999739646912,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9771000146865845,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/retargeting","display_name":"Retargeting","score":0.9560712575912476},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6774529218673706},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.570180356502533},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.5427846908569336},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5400638580322266},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5151649713516235},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5047363042831421},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.484538733959198},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4843088686466217},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39758068323135376},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.07028940320014954}],"concepts":[{"id":"https://openalex.org/C2780575108","wikidata":"https://www.wikidata.org/wiki/Q7316652","display_name":"Retargeting","level":2,"score":0.9560712575912476},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6774529218673706},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.570180356502533},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.5427846908569336},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5400638580322266},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5151649713516235},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5047363042831421},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.484538733959198},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4843088686466217},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39758068323135376},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.07028940320014954},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/mra.2023.3270222","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2023.3270222","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 &amp; Automation Magazine","raw_type":"journal-article"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/876071f5-3d82-4ba4-9cb8-2e378a3e50dd","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/876071f5-3d82-4ba4-9cb8-2e378a3e50dd","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Wen, R, Rouxel, Q, Mistry, M, Li, Z & Tiseo, C 2023, 'Collaborative bimanual manipulation using optimal motion adaptation and interaction control : Retargeting human commands to feasible robot control references', IEEE Robotics and Automation Magazine, vol. 31, no. 4, pp. 68-80. https://doi.org/10.1109/MRA.2023.3270222","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.ed.ac.uk:publications/876071f5-3d82-4ba4-9cb8-2e378a3e50dd","is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.11820/876071f5-3d82-4ba4-9cb8-2e378a3e50dd","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Wen, R, Rouxel, Q, Mistry, M, Li, Z & Tiseo, C 2023, 'Collaborative bimanual manipulation using optimal motion adaptation and interaction control : Retargeting human commands to feasible robot control references', IEEE Robotics and Automation Magazine, vol. 31, no. 4, pp. 68-80. https://doi.org/10.1109/MRA.2023.3270222","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:openaire/876071f5-3d82-4ba4-9cb8-2e378a3e50dd","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/876071f5-3d82-4ba4-9cb8-2e378a3e50dd","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Wen, R, Rouxel, Q, Mistry, M, Li, Z & Tiseo, C 2023, 'Collaborative bimanual manipulation using optimal motion adaptation and interaction control : Retargeting human commands to feasible robot control references', IEEE Robotics and Automation Magazine, vol. 31, no. 4, pp. 68-80. https://doi.org/10.1109/MRA.2023.3270222","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2224356614","display_name":null,"funder_award_id":"101017008","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G3041203688","display_name":null,"funder_award_id":"EP/R026092","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G3739141303","display_name":null,"funder_award_id":"EP/R02572X","funder_id":"https://openalex.org/F4320330083","funder_display_name":"National Centre for Nuclear Robotics"},{"id":"https://openalex.org/G4706214002","display_name":null,"funder_award_id":"ICT-2017-1","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G8602921712","display_name":null,"funder_award_id":"EP/R026173","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320330083","display_name":"National Centre for Nuclear Robotics","ror":null},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W646585437","https://openalex.org/W2019606703","https://openalex.org/W2153577013","https://openalex.org/W2214212631","https://openalex.org/W2631994842","https://openalex.org/W2771354076","https://openalex.org/W2799280697","https://openalex.org/W2947984804","https://openalex.org/W3006936931","https://openalex.org/W3011673826","https://openalex.org/W3129266973","https://openalex.org/W3169652585","https://openalex.org/W3176269243","https://openalex.org/W3186028265","https://openalex.org/W3215853544","https://openalex.org/W4214863073","https://openalex.org/W4286981776","https://openalex.org/W4293090650","https://openalex.org/W4389058155","https://openalex.org/W6723262837","https://openalex.org/W6783233226","https://openalex.org/W6801656806"],"related_works":["https://openalex.org/W2461433938","https://openalex.org/W4389483750","https://openalex.org/W2770958975","https://openalex.org/W4388007604","https://openalex.org/W1033720759","https://openalex.org/W2043281736","https://openalex.org/W2798302728","https://openalex.org/W4316663596","https://openalex.org/W2924774772","https://openalex.org/W3147766660"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,77,117],"robust":[4],"and":[5,47,61,75,95,105,109,113,123,139],"reliable":[6],"human\u2013robot":[7,72],"collaboration":[8],"(HRC)":[9],"framework":[10,36,91,128],"for":[11,57],"bimanual":[12],"manipulation.":[13],"We":[14],"propose":[15],"an":[16,66],"optimal":[17],"motion":[18],"adaptation":[19],"method":[20],"to":[21,26,69],"retarget":[22],"arbitrary":[23],"human":[24,59,97],"commands":[25,60,98],"feasible":[27],"robot":[28,120],"pose":[29],"references":[30],"while":[31],"maintaining":[32],"payload":[33],"stability.":[34],"The":[35],"comprises":[37],"three":[38],"modules:":[39],"1)":[40],"<italic":[41,52],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[42,53],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">a":[43],"task-space":[44],"sequential":[45],"equilibrium":[46],"inverse":[48],"kinematics":[49],"optimization</i>":[50],"(":[51],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">task-space":[54],"SEIKO</i>":[55],")":[56],"retargeting":[58],"enforcing":[62],"feasibility":[63],"constraints,":[64],"2)":[65],"admittance":[67],"controller":[68,79],"facilitate":[70],"compliant":[71],"physical":[73,83,124],"interactions,":[74],"3)":[76],"low-level":[78],"improving":[80],"stability":[81],"during":[82],"interactions.":[84],"Experimental":[85],"results":[86],"show":[87],"that":[88],"the":[89,127,130,133,140],"proposed":[90],"successfully":[92],"adapted":[93],"infeasible":[94],"dangerous":[96],"into":[99],"continuous":[100],"motions":[101],"within":[102],"safe":[103],"boundaries":[104],"achieved":[106],"stable":[107],"grasping":[108],"maneuvering":[110],"of":[111,136,143],"large":[112],"heavy":[114],"objects":[115],"on":[116],"real":[118],"dual-arm":[119],"via":[121],"teleoperation":[122],"interaction.":[125],"Furthermore,":[126],"demonstrated":[129],"capability":[131],"in":[132],"assembly":[134],"task":[135,142],"building":[137],"blocks":[138],"insertion":[141],"industrial":[144],"power":[145],"connectors.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2023-05-18T00:00:00"}