{"id":"https://openalex.org/W3196662912","doi":"https://doi.org/10.1109/smc52423.2021.9658594","title":"Dual-arm Coordinated Manipulation for Object Twisting with Human Intelligence","display_name":"Dual-arm Coordinated Manipulation for Object Twisting with Human Intelligence","publication_year":2021,"publication_date":"2021-10-17","ids":{"openalex":"https://openalex.org/W3196662912","doi":"https://doi.org/10.1109/smc52423.2021.9658594","mag":"3196662912"},"language":"en","primary_location":{"id":"doi:10.1109/smc52423.2021.9658594","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc52423.2021.9658594","pdf_url":null,"source":{"id":"https://openalex.org/S4363607761","display_name":"2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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/A5031905138","display_name":"Weibang Bai","orcid":"https://orcid.org/0000-0002-8937-8485"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Weibang Bai","raw_affiliation_strings":["Hamlyn Center, Imperial College London, London, UK"],"affiliations":[{"raw_affiliation_string":"Hamlyn Center, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007136748","display_name":"Ningshan Zhang","orcid":"https://orcid.org/0000-0002-0175-8759"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ningshan Zhang","raw_affiliation_strings":["University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045614046","display_name":"Baoru Huang","orcid":"https://orcid.org/0000-0002-4421-652X"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Baoru Huang","raw_affiliation_strings":["Hamlyn Center, Imperial College London, London, UK"],"affiliations":[{"raw_affiliation_string":"Hamlyn Center, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100389387","display_name":"Ziwei Wang","orcid":"https://orcid.org/0000-0003-4588-8501"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ziwei Wang","raw_affiliation_strings":["Imperial College London, London, UK"],"affiliations":[{"raw_affiliation_string":"Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031101437","display_name":"Francesco Cursi","orcid":"https://orcid.org/0000-0003-1796-4036"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Francesco Cursi","raw_affiliation_strings":["Hamlyn Center, Imperial College London, London, UK"],"affiliations":[{"raw_affiliation_string":"Hamlyn Center, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030468477","display_name":"Ya-Yen Tsai","orcid":"https://orcid.org/0000-0001-8037-355X"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ya-Yen Tsai","raw_affiliation_strings":["Hamlyn Center, Imperial College London, London, UK"],"affiliations":[{"raw_affiliation_string":"Hamlyn Center, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041909892","display_name":"Bo Xiao","orcid":"https://orcid.org/0000-0001-9361-4340"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Bo Xiao","raw_affiliation_strings":["Hamlyn Center, Imperial College London, London, UK"],"affiliations":[{"raw_affiliation_string":"Hamlyn Center, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062134436","display_name":"Eric M. Yeatman","orcid":"https://orcid.org/0000-0003-0487-2693"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Eric M. Yeatman","raw_affiliation_strings":["Imperial College London, London, UK"],"affiliations":[{"raw_affiliation_string":"Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5031905138"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":3.9333,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.95472868,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"902","last_page":"908"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9994999766349792,"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"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9994000196456909,"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","display_name":"Dual (grammatical number)","score":0.724424421787262},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7071955800056458},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6850935220718384},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.652685821056366},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5801450610160828},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5780511498451233},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5486063957214355},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5236586928367615},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5045009851455688},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.46844321489334106},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4414660632610321},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4059196412563324},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3617614805698395},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32208251953125},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2276844084262848},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.11932104825973511}],"concepts":[{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.724424421787262},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7071955800056458},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6850935220718384},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.652685821056366},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5801450610160828},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5780511498451233},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5486063957214355},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5236586928367615},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5045009851455688},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.46844321489334106},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4414660632610321},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4059196412563324},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3617614805698395},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32208251953125},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2276844084262848},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.11932104825973511},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc52423.2021.9658594","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc52423.2021.9658594","pdf_url":null,"source":{"id":"https://openalex.org/S4363607761","display_name":"2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1164958838","display_name":null,"funder_award_id":"ICT 871803","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G1447479582","display_name":null,"funder_award_id":"829186","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G2528487529","display_name":null,"funder_award_id":"899626","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G27553424","display_name":null,"funder_award_id":"ICT 871767","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G2819266950","display_name":null,"funder_award_id":"EP/P012779/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G297063598","display_name":null,"funder_award_id":"871767","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G3041203688","display_name":null,"funder_award_id":"EP/R026092","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G3766390801","display_name":null,"funder_award_id":"EP/P01277","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G4748050180","display_name":null,"funder_award_id":"FETOPEN 899626","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6154331686","display_name":null,"funder_award_id":"871803","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6468914036","display_name":null,"funder_award_id":"EP/P012779","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G793360779","display_name":"Micro-Robotics for Surgery","funder_award_id":"EP/P012779/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8051717526","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8452545418","display_name":null,"funder_award_id":"unknown","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8572172379","display_name":"Future AI and Robotics Hub for Space (FAIR-SPACE)","funder_award_id":"EP/R026092/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8578063908","display_name":null,"funder_award_id":"FAIR-SPACE EP/R026092/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8578273656","display_name":null,"funder_award_id":"FETOPEN","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8719353587","display_name":null,"funder_award_id":"EP/P0","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320311904","display_name":"Wellcome Trust","ror":"https://ror.org/029chgv08"},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1994305306","https://openalex.org/W1996762208","https://openalex.org/W2003900106","https://openalex.org/W2049410986","https://openalex.org/W2060603136","https://openalex.org/W2069565322","https://openalex.org/W2072770679","https://openalex.org/W2092453501","https://openalex.org/W2113797465","https://openalex.org/W2124473425","https://openalex.org/W2147168033","https://openalex.org/W2163533523","https://openalex.org/W2229157728","https://openalex.org/W2281363520","https://openalex.org/W2292448889","https://openalex.org/W2564086329","https://openalex.org/W2564366716","https://openalex.org/W2731342681","https://openalex.org/W2740105858","https://openalex.org/W2782655722","https://openalex.org/W2791992091","https://openalex.org/W2805530149","https://openalex.org/W2902555351","https://openalex.org/W2915710871","https://openalex.org/W2952994257","https://openalex.org/W2983371241","https://openalex.org/W2998014151","https://openalex.org/W3000442452","https://openalex.org/W3024284120","https://openalex.org/W3041688022","https://openalex.org/W3088455731","https://openalex.org/W4246744050","https://openalex.org/W6783220060"],"related_works":["https://openalex.org/W2658949566","https://openalex.org/W129737916","https://openalex.org/W4226385867","https://openalex.org/W2966461000","https://openalex.org/W4223569781","https://openalex.org/W841410736","https://openalex.org/W2167648512","https://openalex.org/W2065660108","https://openalex.org/W2612781909","https://openalex.org/W3004667746"],"abstract_inverted_index":{"Robotic":[0],"dual-arm":[1,44,85],"twisting":[2,72,89],"is":[3],"a":[4,23,80],"common":[5],"but":[6],"very":[7],"challenging":[8],"task":[9,53],"in":[10],"both":[11],"industrial":[12],"production":[13],"and":[14,29,37,60,67,102,113,121,131],"daily":[15],"services,":[16],"as":[17],"it":[18,117],"often":[19],"requires":[20],"dexterous":[21],"collaboration,":[22],"large":[24],"scale":[25],"of":[26,83,95],"end-effector":[27],"rotating,":[28],"good":[30],"adaptivity":[31],"for":[32,42,69,88,99,108,124],"object":[33],"manipulation.":[34,46],"Meanwhile,":[35],"safety":[36],"efficiency":[38],"are":[39,64],"primary":[40],"concerns":[41],"robotic":[43],"coordinated":[45,86],"Thus,":[47],"the":[48,70,84,93,109],"normally":[49],"adopted":[50],"fully":[51],"automated":[52],"execution":[54],"approaches":[55],"based":[56,91],"on":[57,92],"environmental":[58],"perception":[59],"motion":[61,97],"planning":[62,98],"techniques":[63],"still":[65],"inadequate":[66],"problematic":[68],"arduous":[71],"tasks.":[73],"To":[74],"this":[75,77],"end,":[76],"paper":[78],"presents":[79],"novel":[81],"strategy":[82],"control":[87],"manipulation":[90],"combination":[94],"optimized":[96],"one":[100],"arm":[101],"real-time":[103],"telecontrol":[104],"with":[105,127],"human":[106],"intelligence":[107],"other.":[110],"The":[111],"analysis":[112],"simulation":[114],"results":[115],"showed":[116],"can":[118],"achieve":[119],"collision":[120],"singularity":[122],"free":[123],"dual":[125],"arms":[126],"enhanced":[128],"dexterity,":[129],"safety,":[130],"efficiency.":[132]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}