{"id":"https://openalex.org/W2114397713","doi":"https://doi.org/10.1109/robot.2004.1307248","title":"Handling of an object by multiple mobile manipulators in coordination based on caster-like dynamics","display_name":"Handling of an object by multiple mobile manipulators in coordination based on caster-like dynamics","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2114397713","doi":"https://doi.org/10.1109/robot.2004.1307248","mag":"2114397713"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1307248","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1307248","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-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/A5066174551","display_name":"Yasuhisa Hirata","orcid":"https://orcid.org/0000-0002-5931-0471"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Y. Hirata","raw_affiliation_strings":["Department of Bioengineering and Robotics, University of Tohoku, Sendai, Japan","PRESTO, Japan Science and Technology Corporation, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Bioengineering and Robotics, University of Tohoku, Sendai, Japan","institution_ids":[]},{"raw_affiliation_string":"PRESTO, Japan Science and Technology Corporation, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114248164","display_name":"Y. Kume","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Y. Kume","raw_affiliation_strings":["Department of Bioengineering and Robotics, University of Tohoku, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Bioengineering and Robotics, University of Tohoku, Sendai, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111589982","display_name":"Takayuki Sawada","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"T. Sawada","raw_affiliation_strings":["Department of Bioengineering and Robotics, University of Tohoku, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Bioengineering and Robotics, University of Tohoku, Sendai, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100756468","display_name":"Zhidong Wang","orcid":"https://orcid.org/0000-0002-0328-3312"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhi-Dong Wang","raw_affiliation_strings":["Department of Bioengineering and Robotics, University of Tohoku, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Bioengineering and Robotics, University of Tohoku, Sendai, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082419118","display_name":"Kazuhiro Kosuge","orcid":"https://orcid.org/0000-0002-2060-2936"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"K. Kosuge","raw_affiliation_strings":["Department of Bioengineering and Robotics, University of Tohoku, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Bioengineering and Robotics, University of Tohoku, Sendai, Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5066174551"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.5527,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":{"value":0.93438729,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"807","last_page":"812 Vol.1"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9994999766349792,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9994000196456909,"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/caster","display_name":"Caster","score":0.821198582649231},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6883645057678223},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6749913692474365},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6158967614173889},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5899209976196289},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.49984025955200195},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.49392253160476685},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4760739207267761},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4703308045864105},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46989771723747253},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.438018798828125},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4302259087562561},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.416671484708786},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40904906392097473},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3445272445678711},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2917637825012207},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21270006895065308},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.057627975940704346}],"concepts":[{"id":"https://openalex.org/C59361812","wikidata":"https://www.wikidata.org/wiki/Q1534874","display_name":"Caster","level":2,"score":0.821198582649231},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6883645057678223},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6749913692474365},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6158967614173889},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5899209976196289},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.49984025955200195},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.49392253160476685},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4760739207267761},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4703308045864105},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46989771723747253},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.438018798828125},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4302259087562561},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.416671484708786},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40904906392097473},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3445272445678711},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2917637825012207},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21270006895065308},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.057627975940704346},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2004.1307248","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1307248","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1568517062","https://openalex.org/W2046365304","https://openalex.org/W2117288215","https://openalex.org/W2123736282","https://openalex.org/W2124118100","https://openalex.org/W2125287111","https://openalex.org/W2274713482","https://openalex.org/W2334977033","https://openalex.org/W2584064824","https://openalex.org/W6695076349"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2170661558","https://openalex.org/W2999143598","https://openalex.org/W2593985399","https://openalex.org/W2150982344"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,13,33,43],"leader-follower":[3],"type":[4],"motion":[5],"control":[6,61,76],"algorithm":[7,62,77],"of":[8,24,73],"multiple":[9,67],"mobile":[10,68],"manipulators":[11],"handling":[12],"single":[14,44],"object":[15,45],"in":[16,36,46],"coordination.":[17],"In":[18],"this":[19],"algorithm,":[20],"the":[21,53,57,71,74,81],"representative":[22],"point":[23],"each":[25,40],"robot":[26,41],"is":[27,63,78],"controlled":[28],"as":[29],"if":[30],"it":[31],"has":[32],"caster-like":[34],"dynamics":[35],"3-D":[37],"space,":[38],"and":[39,70],"handles":[42],"coordination":[47],"with":[48],"other":[49],"robots":[50],"without":[51],"using":[52],"geometric":[54],"relations":[55],"among":[56],"robots.":[58],"The":[59],"proposed":[60,75],"experimentally":[64],"applied":[65],"to":[66],"manipulators,":[69],"validity":[72],"illustrated":[79],"by":[80],"experimental":[82],"results.":[83]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}