{"id":"https://openalex.org/W3195903237","doi":"https://doi.org/10.1109/ro-man50785.2021.9515370","title":"Commanding a Whole-Arm Manipulation Grasp Configuration With One Click: Interaction Concept and Analytic IK Method","display_name":"Commanding a Whole-Arm Manipulation Grasp Configuration With One Click: Interaction Concept and Analytic IK Method","publication_year":2021,"publication_date":"2021-08-08","ids":{"openalex":"https://openalex.org/W3195903237","doi":"https://doi.org/10.1109/ro-man50785.2021.9515370","mag":"3195903237"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man50785.2021.9515370","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man50785.2021.9515370","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 30th IEEE International Conference on Robot &amp; Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5091477748","display_name":"Pascal Gliesche","orcid":null},"institutions":[{"id":"https://openalex.org/I202367325","display_name":"Oldenburger Institut f\u00fcr Informatik","ror":"https://ror.org/003sav189","country_code":"DE","type":"facility","lineage":["https://openalex.org/I202367325"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Pascal Gliesche","raw_affiliation_strings":["OFFIS Institute for Information Technology, Oldenburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"OFFIS Institute for Information Technology, Oldenburg, Germany","institution_ids":["https://openalex.org/I202367325"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053679171","display_name":"Christian Kowalski","orcid":null},"institutions":[{"id":"https://openalex.org/I202367325","display_name":"Oldenburger Institut f\u00fcr Informatik","ror":"https://ror.org/003sav189","country_code":"DE","type":"facility","lineage":["https://openalex.org/I202367325"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Kowalski","raw_affiliation_strings":["OFFIS Institute for Information Technology, Oldenburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"OFFIS Institute for Information Technology, Oldenburg, Germany","institution_ids":["https://openalex.org/I202367325"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078041415","display_name":"Max Pfingsthorn","orcid":"https://orcid.org/0000-0002-2923-7250"},"institutions":[{"id":"https://openalex.org/I202367325","display_name":"Oldenburger Institut f\u00fcr Informatik","ror":"https://ror.org/003sav189","country_code":"DE","type":"facility","lineage":["https://openalex.org/I202367325"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Max Pfingsthorn","raw_affiliation_strings":["OFFIS Institute for Information Technology, Oldenburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"OFFIS Institute for Information Technology, Oldenburg, Germany","institution_ids":["https://openalex.org/I202367325"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060354161","display_name":"Andreas Hein","orcid":"https://orcid.org/0000-0001-8846-2282"},"institutions":[{"id":"https://openalex.org/I129877168","display_name":"Carl von Ossietzky Universit\u00e4t Oldenburg","ror":"https://ror.org/033n9gh91","country_code":"DE","type":"education","lineage":["https://openalex.org/I129877168"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas Hein","raw_affiliation_strings":["Carl von Ossietzky University of Olden-burg, Oldenburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carl von Ossietzky University of Olden-burg, Oldenburg, Germany","institution_ids":["https://openalex.org/I129877168"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"573","last_page":"579"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9980000257492065,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7582019567489624},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.7511333227157593},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6819096803665161},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6189649105072021},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5914849638938904},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.573137640953064},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.4719105362892151},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.43301117420196533},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.35217612981796265},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.3041403889656067},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2915070652961731},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1622830331325531},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13151413202285767}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7582019567489624},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.7511333227157593},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6819096803665161},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6189649105072021},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5914849638938904},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.573137640953064},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.4719105362892151},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.43301117420196533},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.35217612981796265},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.3041403889656067},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2915070652961731},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1622830331325531},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13151413202285767},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ro-man50785.2021.9515370","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man50785.2021.9515370","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 30th IEEE International Conference on Robot &amp; Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth","score":0.7300000190734863}],"awards":[],"funders":[{"id":"https://openalex.org/F4320311649","display_name":"Ministry of Education","ror":"https://ror.org/036nq5137"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W69219813","https://openalex.org/W139131351","https://openalex.org/W1505275672","https://openalex.org/W1539479659","https://openalex.org/W1820657498","https://openalex.org/W2015159529","https://openalex.org/W2062691475","https://openalex.org/W2076425954","https://openalex.org/W2087162676","https://openalex.org/W2098377564","https://openalex.org/W2104069953","https://openalex.org/W2126369258","https://openalex.org/W2133932786","https://openalex.org/W2152864241","https://openalex.org/W2159722260","https://openalex.org/W2167340365","https://openalex.org/W2167788274","https://openalex.org/W2889450890","https://openalex.org/W2889810779","https://openalex.org/W2952147205","https://openalex.org/W2968601742","https://openalex.org/W2994722919","https://openalex.org/W2996680501","https://openalex.org/W3046895680","https://openalex.org/W3097162738","https://openalex.org/W3107643322","https://openalex.org/W6630047853","https://openalex.org/W6771932324","https://openalex.org/W6786349934","https://openalex.org/W7005955626"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W4235013387","https://openalex.org/W2014928560","https://openalex.org/W2731862817"],"abstract_inverted_index":{"Robotic":[0],"assistance":[1],"in":[2,15],"nursing":[3],"is":[4,54,113,120],"becoming":[5],"increasingly":[6],"important":[7],"due":[8],"to":[9,24,62,74,86,168],"labor":[10],"shortage":[11],"and":[12,17,65,84,142,159],"novel":[13,81],"capabilities":[14],"hard-":[16],"software.":[18],"In":[19,77],"nursing,":[20],"patients":[21,53],"often":[22],"need":[23,61],"be":[25,40,63,75],"manipulated":[26],"which":[27,98],"requires":[28],"force":[29],"distribution":[30],"beyond":[31],"the":[32,116,139,145,153,156,160,163],"scope":[33],"of":[34,71,155,162],"traditional":[35],"end":[36],"effectors.":[37],"This":[38],"can":[39],"solved":[41],"with":[42,105],"whole":[43],"arm":[44],"manipulation":[45],"(WAM).":[46],"Unfortunately,":[47],"commanding":[48,100],"WAM":[49,102],"configurations":[50],"for":[51,122],"grasping":[52],"very":[55,125],"complex,":[56],"as":[57],"many":[58],"contact":[59],"points":[60],"achieved,":[64],"all":[66],"6":[67],"or":[68],"7":[69],"degrees":[70],"freedom":[72],"have":[73],"defined.":[76],"this":[78],"paper,":[79],"a":[80,92,101,109,124],"interaction":[82],"concept":[83],"according":[85],"inverse":[87,129],"kinematic":[88,130],"solvers":[89,134],"based":[90],"on":[91,108],"local":[93,117,164],"elliptic":[94,118,165],"approximation":[95],"are":[96,135],"proposed,":[97],"allows":[99],"holding":[103],"grasp":[104],"one":[106],"click":[107],"point":[110],"cloud.":[111],"It":[112],"shown":[114],"how":[115],"model":[119,166],"used":[121],"formulating":[123],"fast":[126],"analytic":[127,157],"multi-contact":[128],"solver.":[131],"Two":[132],"alternative":[133],"derived":[136],"by":[137,143],"extending":[138],"BioIK":[140],"method":[141,158],"utilizing":[144],"popular":[146],"sequential":[147],"quadratic":[148],"programming":[149],"approach.":[150],"Experiments":[151],"show":[152],"efficiency":[154],"robustness":[161],"relative":[167],"perceptual":[169],"perturbations.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
