{"id":"https://openalex.org/W2405643909","doi":"https://doi.org/10.1109/robot.2006.1642074","title":"Motion planning for robotic manipulation of deformable linear objects","display_name":"Motion planning for robotic manipulation of deformable linear objects","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2405643909","doi":"https://doi.org/10.1109/robot.2006.1642074","mag":"2405643909"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1642074","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1642074","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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/A5112142220","display_name":"Mitul Saha","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Saha","raw_affiliation_strings":["Artificial Intelligence Laboratory, University of Stanford, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Laboratory, University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023106181","display_name":"Pekka Isto","orcid":null},"institutions":[{"id":"https://openalex.org/I79765343","display_name":"University of Vaasa","ror":"https://ror.org/03769b225","country_code":"FI","type":"education","lineage":["https://openalex.org/I79765343"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"P. Isto","raw_affiliation_strings":["Computer Science Department, University of Vassa, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Vassa, Finland","institution_ids":["https://openalex.org/I79765343"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6399,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.86811939,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2478","last_page":"2484"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11159","display_name":"Manufacturing Process and Optimization","score":0.9769999980926514,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9769999980926514,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.949400007724762,"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/T12190","display_name":"Innovations in Concrete and Construction Materials","score":0.911899983882904,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/computer-science","display_name":"Computer science","score":0.6499399542808533},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6215121746063232},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5984313488006592},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5856605768203735},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5415904521942139},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3898999094963074}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6499399542808533},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6215121746063232},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5984313488006592},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5856605768203735},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5415904521942139},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3898999094963074}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2006.1642074","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1642074","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"},{"id":"mag:2405643909","is_oa":false,"landing_page_url":"https://dblp.uni-trier.de/db/conf/iser/iser2006.html#SahaIL06","pdf_url":null,"source":{"id":"https://openalex.org/S4306420145","display_name":"International Symposium on Experimental Robotics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"International Symposium on Experimental Robotics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1974032213","https://openalex.org/W1979402942","https://openalex.org/W2000359213","https://openalex.org/W2007243548","https://openalex.org/W2018110063","https://openalex.org/W2036016432","https://openalex.org/W2044725657","https://openalex.org/W2044995998","https://openalex.org/W2077264231","https://openalex.org/W2081179887","https://openalex.org/W2116645259","https://openalex.org/W2137727360","https://openalex.org/W2138931081","https://openalex.org/W2139583487","https://openalex.org/W2140716894","https://openalex.org/W2159791647","https://openalex.org/W2163171217","https://openalex.org/W2163945752","https://openalex.org/W6632103127"],"related_works":["https://openalex.org/W2126998703","https://openalex.org/W3195840293","https://openalex.org/W3149513485","https://openalex.org/W2472053385","https://openalex.org/W2159791647","https://openalex.org/W2101073745","https://openalex.org/W3104901003","https://openalex.org/W2338968866","https://openalex.org/W2151693201","https://openalex.org/W2138931081","https://openalex.org/W3138474611","https://openalex.org/W3145410836","https://openalex.org/W1527127121","https://openalex.org/W2171490473","https://openalex.org/W2146766088","https://openalex.org/W2735225975","https://openalex.org/W3039354396","https://openalex.org/W2030646370","https://openalex.org/W2596432030","https://openalex.org/W2646288481"],"abstract_inverted_index":{"Research":[0],"on":[1,7],"robotic":[2],"manipulation":[3],"has":[4],"mainly":[5],"focused":[6],"manipulating":[8,19,59],"rigid":[9],"objects":[10,25,34],"so":[11],"far.":[12],"However,":[13],"many":[14],"important":[15],"application":[16],"domains":[17],"require":[18],"deformable":[20,23],"objects,":[21],"especially":[22],"linear":[24],"(DLOs),":[26],"such":[27],"as":[28,41],"ropes,":[29],"cables,":[30],"and":[31,61,65,123],"sutures.":[32],"Such":[33],"are":[35],"far":[36],"more":[37],"challenging":[38],"to":[39,114],"handle,":[40],"they":[42],"can":[43],"exhibit":[44],"a":[45,54,78,96,104],"much":[46],"greater":[47],"diversity":[48],"of":[49,99],"behaviors.":[50],"This":[51],"paper":[52],"describes":[53],"new":[55],"motion":[56,90],"planner":[57,76,109],"for":[58],"DLOs":[60],"tying":[62],"knots":[63,66,117],"(self-knots":[64],"around":[67],"simple":[68],"static":[69],"objects)":[70],"using":[71],"cooperating":[72],"robot":[73],"arms.":[74],"The":[75,107],"constructs":[77],"topologically-biased":[79],"probabilistic":[80],"roadmap":[81],"in":[82,88,112],"the":[83,93,100],"DLO's":[84],"configuration":[85],"space.":[86],"Unlike":[87],"traditional":[89],"planning":[91],"problems,":[92],"goal":[94],"is":[95],"topological":[97],"state":[98],"world,":[101],"rather":[102],"than":[103],"geometric":[105],"one.":[106],"implemented":[108],"was":[110],"tested":[111],"simulation":[113],"achieve":[115],"various":[116],"like":[118],"bowline,":[119],"neck-tie,":[120],"bow":[121],"(shoe-lace),":[122],"stun-sail":[124]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}