{"id":"https://openalex.org/W2921105768","doi":"https://doi.org/10.1109/robio.2018.8665292","title":"Dual-Arm Coordination Using Dual Quaternions and Virtual Mechanisms","display_name":"Dual-Arm Coordination Using Dual Quaternions and Virtual Mechanisms","publication_year":2018,"publication_date":"2018-12-01","ids":{"openalex":"https://openalex.org/W2921105768","doi":"https://doi.org/10.1109/robio.2018.8665292","mag":"2921105768"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2018.8665292","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8665292","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://uca.hal.science/hal-02098256","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5112516860","display_name":"Rohit Chandra","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123221","display_name":"Sigma Clermont","ror":"https://ror.org/02n5evf44","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214","https://openalex.org/I4210123221","https://openalex.org/I4387154249"]},{"id":"https://openalex.org/I169645620","display_name":"Institut Pascal","ror":"https://ror.org/03vgfxd91","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I169645620","https://openalex.org/I198244214","https://openalex.org/I4210095849"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Rohit Chandra","raw_affiliation_strings":["SIGMA Clermont, Institut Pascal, Clermont-Ferrand, France"],"affiliations":[{"raw_affiliation_string":"SIGMA Clermont, Institut Pascal, Clermont-Ferrand, France","institution_ids":["https://openalex.org/I4210123221","https://openalex.org/I169645620"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030459067","display_name":"Carlos M. Mateo","orcid":"https://orcid.org/0000-0002-1730-4233"},"institutions":[{"id":"https://openalex.org/I169645620","display_name":"Institut Pascal","ror":"https://ror.org/03vgfxd91","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I169645620","https://openalex.org/I198244214","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I4210123221","display_name":"Sigma Clermont","ror":"https://ror.org/02n5evf44","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214","https://openalex.org/I4210123221","https://openalex.org/I4387154249"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Carlos M. Mateo","raw_affiliation_strings":["SIGMA Clermont, Institut Pascal, Clermont-Ferrand, France"],"affiliations":[{"raw_affiliation_string":"SIGMA Clermont, Institut Pascal, Clermont-Ferrand, France","institution_ids":["https://openalex.org/I4210123221","https://openalex.org/I169645620"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067719607","display_name":"Juan Antonio Corrales Ram\u00f3n","orcid":"https://orcid.org/0000-0002-9373-7954"},"institutions":[{"id":"https://openalex.org/I169645620","display_name":"Institut Pascal","ror":"https://ror.org/03vgfxd91","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I169645620","https://openalex.org/I198244214","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I4210123221","display_name":"Sigma Clermont","ror":"https://ror.org/02n5evf44","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214","https://openalex.org/I4210123221","https://openalex.org/I4387154249"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Juan Antonio Corrales-Ramon","raw_affiliation_strings":["SIGMA Clermont, Institut Pascal, Clermont-Ferrand, France"],"affiliations":[{"raw_affiliation_string":"SIGMA Clermont, Institut Pascal, Clermont-Ferrand, France","institution_ids":["https://openalex.org/I4210123221","https://openalex.org/I169645620"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048178604","display_name":"Youcef Mezouar","orcid":"https://orcid.org/0000-0001-8138-3928"},"institutions":[{"id":"https://openalex.org/I4210123221","display_name":"Sigma Clermont","ror":"https://ror.org/02n5evf44","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214","https://openalex.org/I4210123221","https://openalex.org/I4387154249"]},{"id":"https://openalex.org/I169645620","display_name":"Institut Pascal","ror":"https://ror.org/03vgfxd91","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I169645620","https://openalex.org/I198244214","https://openalex.org/I4210095849"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Youcef Mezouar","raw_affiliation_strings":["SIGMA Clermont, Institut Pascal, Clermont-Ferrand, France"],"affiliations":[{"raw_affiliation_string":"SIGMA Clermont, Institut Pascal, Clermont-Ferrand, France","institution_ids":["https://openalex.org/I4210123221","https://openalex.org/I169645620"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5112516860"],"corresponding_institution_ids":["https://openalex.org/I169645620","https://openalex.org/I4210123221"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.22273433,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"3","issue":null,"first_page":"759","last_page":"765"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9993000030517578,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9993000030517578,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9991000294685364,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/dual-quaternion","display_name":"Dual quaternion","score":0.9146115779876709},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.8233798742294312},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6553273797035217},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.6266564726829529},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6096237897872925},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5838205218315125},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5200523734092712},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5175463557243347},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5079429745674133},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.5052688717842102},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5004913806915283},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49729326367378235},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.49593958258628845},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.45835816860198975},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4198347330093384},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4167887568473816},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4084951877593994},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4045281410217285},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21234029531478882},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.20082467794418335},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1388462781906128},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11837473511695862},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1008627712726593}],"concepts":[{"id":"https://openalex.org/C145941777","wikidata":"https://www.wikidata.org/wiki/Q5310237","display_name":"Dual quaternion","level":3,"score":0.9146115779876709},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.8233798742294312},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6553273797035217},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.6266564726829529},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6096237897872925},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5838205218315125},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5200523734092712},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5175463557243347},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5079429745674133},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.5052688717842102},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5004913806915283},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49729326367378235},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.49593958258628845},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.45835816860198975},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4198347330093384},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4167887568473816},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4084951877593994},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4045281410217285},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21234029531478882},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.20082467794418335},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1388462781906128},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11837473511695862},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1008627712726593},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio.2018.8665292","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8665292","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-02098256v1","is_oa":true,"landing_page_url":"https://uca.hal.science/hal-02098256","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dec 2018, Kuala Lumpur, Malaysia. pp.759-765, ⟨10.1109/ROBIO.2018.8665292⟩","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02098256v1","is_oa":true,"landing_page_url":"https://uca.hal.science/hal-02098256","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dec 2018, Kuala Lumpur, Malaysia. pp.759-765, ⟨10.1109/ROBIO.2018.8665292⟩","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1495870684","https://openalex.org/W1533220671","https://openalex.org/W1973876344","https://openalex.org/W2008418625","https://openalex.org/W2062674159","https://openalex.org/W2114945409","https://openalex.org/W2116594949","https://openalex.org/W2152864241","https://openalex.org/W2153277799","https://openalex.org/W2162729570","https://openalex.org/W2198175128","https://openalex.org/W6677277421"],"related_works":["https://openalex.org/W2523915674","https://openalex.org/W2888751871","https://openalex.org/W570369945","https://openalex.org/W3127350447","https://openalex.org/W2185573392","https://openalex.org/W102224637","https://openalex.org/W2315718763","https://openalex.org/W4321633639","https://openalex.org/W4361860244","https://openalex.org/W2043887556"],"abstract_inverted_index":{"A":[0],"novel":[1],"approach":[2],"to":[3,54,77,142],"the":[4,13,27,124,146,150],"kinematic":[5],"coordination":[6,80],"problem":[7,28,81],"for":[8,12,82,114],"dual-arm":[9,58,83,111],"robots":[10],"and":[11,23,37,50,62,90,99,118,130,144],"definition":[14,93],"of":[15,26,35,48,57,72],"bimanual":[16,119],"tasks":[17],"is":[18,44,69,85,94],"proposed,":[19],"where":[20],"both":[21,128],"modelling":[22],"control":[24],"aspects":[25],"are":[29],"handled":[30],"using":[31,87,96,109],"dual":[32,66],"quaternion":[33,67],"representation":[34,68],"pose":[36],"screw-based":[38],"manipulator":[39,59],"Jacobian.":[40],"The":[41,79,102,134],"proposed":[42,135],"formulation":[43],"advantageous":[45],"in":[46],"terms":[47],"computation":[49],"storage":[51],"efficiency":[52],"compared":[53],"other":[55],"formulations":[56],"forward":[60],"kinematics":[61],"Jacobian":[63],"computation.":[64],"Unit":[65],"also":[70],"capable":[71],"avoiding":[73],"representational":[74],"singularities":[75],"related":[76],"orientation.":[78],"manipulation":[84],"addressed":[86],"relative":[88,129],"Jacobian,":[89],"parametrized":[91],"task":[92],"achieved":[95],"virtual":[97],"mechanisms":[98],"task-specific":[100],"Jacobians.":[101],"framework":[103],"hence":[104],"developed":[105],"has":[106],"been":[107],"validated":[108],"a":[110,138],"Baxter":[112],"robot":[113],"steering":[115],"wheel":[116],"rotation":[117],"pouring":[120],"tasks,":[121],"thus":[122],"validating":[123],"position":[125],"controller":[126],"with":[127],"global":[131],"task-space":[132],"motions.":[133],"experiments":[136],"use":[137],"visual":[139],"sensing":[140],"strategy":[141],"detect":[143],"follow":[145],"manipulated":[147],"objects":[148],"during":[149],"task.":[151]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}