{"id":"https://openalex.org/W4402822608","doi":"https://doi.org/10.1109/mra.2024.3451788","title":"The Franka Emika Robot: A Standard Platform in Robotics Research [Survey]","display_name":"The Franka Emika Robot: A Standard Platform in Robotics Research [Survey]","publication_year":2024,"publication_date":"2024-09-25","ids":{"openalex":"https://openalex.org/W4402822608","doi":"https://doi.org/10.1109/mra.2024.3451788"},"language":"en","primary_location":{"id":"doi:10.1109/mra.2024.3451788","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2024.3451788","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Technische Universit&#x00E4;t M&#x00FC;nchen, Munich, Germany","Munich Institute of Robotics and Machine Intelligence (MIRMI), Technische Universit&#x00E4;t M&#x00FC;nchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technische Universit&#x00E4;t M&#x00FC;nchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence (MIRMI), Technische Universit&#x00E4;t M&#x00FC;nchen, Munich, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5024171209"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":4.5371,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.95764392,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"31","issue":"4","first_page":"136","last_page":"148"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9833999872207642,"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":0.9833999872207642,"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":0.961899995803833,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9445000290870667,"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/robotics","display_name":"Robotics","score":0.7251316905021667},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6671567559242249},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6267787218093872},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47767314314842224},{"id":"https://openalex.org/keywords/medical-robotics","display_name":"Medical robotics","score":0.446225106716156},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37727558612823486},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3259478509426117},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.32339656352996826}],"concepts":[{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.7251316905021667},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6671567559242249},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6267787218093872},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47767314314842224},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.446225106716156},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37727558612823486},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3259478509426117},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32339656352996826}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mra.2024.3451788","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2024.3451788","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":63,"referenced_works":["https://openalex.org/W1516493184","https://openalex.org/W1541925238","https://openalex.org/W1576373160","https://openalex.org/W1994940578","https://openalex.org/W2013575527","https://openalex.org/W2016958754","https://openalex.org/W2017239762","https://openalex.org/W2026960353","https://openalex.org/W2034052310","https://openalex.org/W2037321228","https://openalex.org/W2066202893","https://openalex.org/W2075210082","https://openalex.org/W2084869663","https://openalex.org/W2087999934","https://openalex.org/W2100913768","https://openalex.org/W2111253117","https://openalex.org/W2117038705","https://openalex.org/W2120380363","https://openalex.org/W2126747268","https://openalex.org/W2131444840","https://openalex.org/W2135569231","https://openalex.org/W2138224356","https://openalex.org/W2138901480","https://openalex.org/W2139761653","https://openalex.org/W2147538068","https://openalex.org/W2154785729","https://openalex.org/W2154786710","https://openalex.org/W2162189406","https://openalex.org/W2607714105","https://openalex.org/W2762248135","https://openalex.org/W2902808022","https://openalex.org/W2904421979","https://openalex.org/W2914159285","https://openalex.org/W2964222556","https://openalex.org/W2967717386","https://openalex.org/W2972802909","https://openalex.org/W2979613320","https://openalex.org/W2999786727","https://openalex.org/W3007769740","https://openalex.org/W3094493488","https://openalex.org/W3146546164","https://openalex.org/W3157031248","https://openalex.org/W3176838722","https://openalex.org/W4214570817","https://openalex.org/W4245289959","https://openalex.org/W4250904644","https://openalex.org/W4253804936","https://openalex.org/W4254087182","https://openalex.org/W4285611064","https://openalex.org/W4287113380","https://openalex.org/W4294955982","https://openalex.org/W4301181181","https://openalex.org/W4313177244","https://openalex.org/W4367016688","https://openalex.org/W4383109488","https://openalex.org/W4387764390","https://openalex.org/W4388430287","https://openalex.org/W4390480951","https://openalex.org/W6719128621","https://openalex.org/W6769609827","https://openalex.org/W6784953566","https://openalex.org/W6802632727","https://openalex.org/W6838597101"],"related_works":["https://openalex.org/W2625686229","https://openalex.org/W1912506680","https://openalex.org/W2160974886","https://openalex.org/W2890489835","https://openalex.org/W3017278983","https://openalex.org/W2353621230","https://openalex.org/W2105149490","https://openalex.org/W2509081345","https://openalex.org/W2517923225","https://openalex.org/W2605543987"],"abstract_inverted_index":{"Over":[0],"the":[1,21,44,51,53,109,114,131,134,141,148,163,173,177],"last":[2,142],"decade,":[3],"industrial":[4],"robots":[5],"have":[6],"evolved":[7],"from":[8,171],"well-established":[9],"position-controlled":[10],"systems":[11],"to":[12,117],"collaborative":[13],"and":[14,38,43,66,73,80,95,128,155,193,201,208,212],"soft":[15],"robots.":[16,121],"In":[17,50,122],"2017":[18],"we":[19],"introduced":[20],"tactile":[22,46],"lightweight":[23],"robot":[24,164,180],"system":[25,54,135],"Franka":[26,178],"Emika":[27,179],"Robot,":[28],"characterized":[29],"by":[30],"advanced":[31],"safety":[32],"control,":[33,40,70],"force":[34,39],"sensing,":[35],"joint":[36,88,119],"torque":[37,89],"hand-guiding":[41],"performance,":[42],"novel":[45],"programming":[47],"paradigm":[48],"DESK.":[49],"meantime,":[52],"has":[55],"become":[56],"a":[57,101,105,125,151,187,196,203],"well-adopted":[58],"reference":[59],"platform":[60],"for":[61,198,210],"robotics":[62,168],"research":[63,106,138],"in":[64,136,215],"AI":[65],"machine":[67],"learning,":[68],"manipulation,":[69],"humanrobot":[71],"interaction,":[72],"motion":[74],"planning.":[75],"It":[76],"features":[77],"multiple":[78],"functional":[79],"widely":[81],"used":[82],"interfaces,":[83],"including":[84],"1":[85],"kHz":[86],"realtime":[87],"control":[90],"access":[91],"or":[92],"precise":[93],"kinematic":[94],"dynamic":[96],"models.":[97],"Furthermore,":[98],"it":[99,185],"became":[100],"crystallization":[102],"point":[103],"of":[104,130,133,150,157,176,206],"ecosystem":[107],"since":[108],"system\u2019s":[110],"affordability":[111],"further":[112],"lowered":[113],"entrance":[115],"barrier":[116],"high-performance":[118],"torquecontrolled":[120],"this":[123],"article,":[124],"quantitative":[126],"analysis":[127,175],"discussion":[129],"use":[132],"worldwide":[137],"labs":[139],"over":[140],"five":[143],"years,":[144],"its":[145],"impact":[146],"on":[147,190],"creation":[149],"compatible":[152],"software":[153],"ecosystem,":[154],"examples":[156],"milestone":[158],"experiments":[159],"made":[160],"possible":[161],"with":[162],"are":[165],"given.":[166],"The":[167],"community":[169],"benefits":[170],"understanding":[172],"comprehensive":[174],"(Panda,":[181],"FR-3,":[182],"FP-3)":[183],"as":[184],"provides":[186],"clear":[188],"view":[189],"current":[191],"capabilities":[192],"usage,":[194],"sets":[195],"benchmark":[197],"future":[199,213],"developments,":[200],"offers":[202],"rich":[204],"source":[205],"inspiration":[207],"learning":[209],"ongoing":[211],"projects":[214],"robotics.":[216]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":12}],"updated_date":"2026-03-22T08:09:32.410652","created_date":"2024-09-25T00:00:00"}
