{"id":"https://openalex.org/W4206291425","doi":"https://doi.org/10.1109/tase.2021.3136006","title":"Planning to Build Block Structures With Unstable Intermediate States Using Two Manipulators","display_name":"Planning to Build Block Structures With Unstable Intermediate States Using Two Manipulators","publication_year":2021,"publication_date":"2021-12-24","ids":{"openalex":"https://openalex.org/W4206291425","doi":"https://doi.org/10.1109/tase.2021.3136006"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2021.3136006","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2021.3136006","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5101814550","display_name":"Hao Chen","orcid":"https://orcid.org/0000-0003-1017-7136"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Hao Chen","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087787651","display_name":"Weiwei Wan","orcid":"https://orcid.org/0000-0002-0058-2819"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Weiwei Wan","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017527569","display_name":"Keisuke Koyama","orcid":"https://orcid.org/0000-0001-6885-9418"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keisuke Koyama","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Osaka, Japan","National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016270703","display_name":"Kensuke Harada","orcid":"https://orcid.org/0000-0002-7576-756X"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kensuke Harada","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101814550"],"corresponding_institution_ids":["https://openalex.org/I98285908"],"apc_list":null,"apc_paid":null,"fwci":1.3568,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.84475686,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"19","issue":"4","first_page":"3777","last_page":"3793"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11159","display_name":"Manufacturing Process and Optimization","score":0.9995999932289124,"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":0.9995999932289124,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9973000288009644,"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/T10783","display_name":"Additive Manufacturing and 3D Printing Technologies","score":0.9940999746322632,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/block","display_name":"Block (permutation group theory)","score":0.7362208366394043},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6872783899307251},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6840618848800659},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.5610139966011047},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.5393286943435669},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5250025987625122},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4950515329837799},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.4608430862426758},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43747544288635254},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4188891351222992},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4133504331111908},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40009981393814087},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3638631999492645},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3488645553588867},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3354754149913788},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.18992456793785095},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11853870749473572},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10234242677688599}],"concepts":[{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.7362208366394043},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6872783899307251},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6840618848800659},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.5610139966011047},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.5393286943435669},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5250025987625122},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4950515329837799},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.4608430862426758},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43747544288635254},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4188891351222992},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4133504331111908},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40009981393814087},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3638631999492645},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3488645553588867},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3354754149913788},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.18992456793785095},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11853870749473572},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10234242677688599},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2021.3136006","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2021.3136006","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W121394502","https://openalex.org/W1668476885","https://openalex.org/W1969196471","https://openalex.org/W2024121552","https://openalex.org/W2024181068","https://openalex.org/W2045128244","https://openalex.org/W2072406661","https://openalex.org/W2072570419","https://openalex.org/W2086807633","https://openalex.org/W2088824805","https://openalex.org/W2090163437","https://openalex.org/W2107255920","https://openalex.org/W2136909956","https://openalex.org/W2151645094","https://openalex.org/W2155748157","https://openalex.org/W2171613445","https://openalex.org/W2177423263","https://openalex.org/W2185387799","https://openalex.org/W2470424338","https://openalex.org/W2521537405","https://openalex.org/W2783413367","https://openalex.org/W2794496459","https://openalex.org/W2800779097","https://openalex.org/W2888144621","https://openalex.org/W2890445280","https://openalex.org/W2899094582","https://openalex.org/W2908815110","https://openalex.org/W2913995205","https://openalex.org/W2939148344","https://openalex.org/W2954330459","https://openalex.org/W2973376225","https://openalex.org/W2996895188","https://openalex.org/W3007862443","https://openalex.org/W3009808496","https://openalex.org/W3011483237","https://openalex.org/W3046175593","https://openalex.org/W3072250194","https://openalex.org/W3097652766","https://openalex.org/W3103554654","https://openalex.org/W3116475628","https://openalex.org/W3130698848","https://openalex.org/W3135889196","https://openalex.org/W3207550954","https://openalex.org/W4243041027","https://openalex.org/W4243425066","https://openalex.org/W4255385909","https://openalex.org/W4299555269","https://openalex.org/W4399469378","https://openalex.org/W6604905185","https://openalex.org/W6713184877","https://openalex.org/W6791828658"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2477150073","https://openalex.org/W2019547100","https://openalex.org/W2515493494"],"abstract_inverted_index":{"The":[0,194,214,287,345],"work":[1],"is":[2,151,292,349],"inspired":[3],"by":[4,52,72,131],"the":[5,28,38,58,63,109,116,127,133,138,145,175,180,188,197,200,209,238,241,270,305,311,316,320,337,358],"assembly":[6,85,118,123,129,202,206,229,253,290,301,313,329,343,347,362],"of":[7,112,196,240,259,307,360],"Soma":[8,11],"block":[9,12],"puzzles.":[10],"puzzles":[13],"usually":[14],"include":[15],"unstable":[16,49,176],"intermediate":[17,50],"states":[18],"that":[19,35,40,80,179,279,303],"require":[20],"additional":[21],"support":[22,57,174],"to":[23,56,66,91,120,163,222,245,295,340,351],"maintain":[24],"stability":[25],"temporarily.":[26],"In":[27],"puzzles\u2019":[29],"solution":[30],"manual,":[31],"we":[32],"can":[33,46,171,182,216,249,273,334],"observe":[34],"designers":[36],"consider":[37],"characteristics":[39],"humans":[41],"have":[42],"two":[43],"hands":[44],"and":[45,61,100,115,125,137,157,173,208,226,235,327,356],"avoid":[47],"an":[48,68,83,251],"state":[51,119,190],"using":[53,62,232],"one":[54],"hand":[55,65,150,170],"finished":[59],"component":[60],"other":[64,158],"assemble":[67,184],"upcoming":[69],"workpiece.":[70],"Motivated":[71],"human":[73,354],"behavior,":[74],"this":[75],"paper":[76],"develops":[77],"a":[78,88,93,104,141,148,165,219,256],"planner":[79,198,248,314,333,348],"automatically":[81],"finds":[82],"optimal":[84,128,201,252,289,328],"sequence":[86,130],"for":[87,140,147,255,277,319],"dual-arm":[89,220,296],"robot":[90,181,221,297],"build":[92],"woodblock":[94],"structure":[95,189],"while":[96],"considering":[97,132],"various":[98,233],"constraints":[99],"supporting":[101,210],"grasps":[102,211],"from":[103,155],"second":[105,142,149,169],"hand.":[106,143],"It":[107],"uses":[108],"mesh":[110],"model":[111],"wood":[113],"blocks":[114,234],"final":[117],"generate":[121,228,250],"possible":[122],"sequences":[124],"evaluate":[126],"stability,":[134],"graspability,":[135],"assemblability,":[136],"need":[139,146,280],"Especially,":[144],"resolved":[152],"when":[153],"supports":[154],"worktables":[156],"workpieces":[159,186],"are":[160],"not":[161],"enough":[162],"produce":[164],"stable":[166,192],"assembly.":[167],"A":[168,331],"hold":[172],"components":[177],"so":[178],"further":[183],"new":[185],"until":[187],"becomes":[191],"again.":[193],"output":[195,215],"includes":[199],"orders,":[203],"candidate":[204],"grasps,":[205],"directions,":[207],"(if":[212],"needed).":[213],"help":[217],"guide":[218],"perform":[223],"motion":[224,321,332],"planning":[225],"thus":[227],"motion.":[230],"Experiments":[231],"structures":[236,260],"show":[237],"effectiveness":[239],"proposed":[242,312,346],"planner.":[243],"Note":[244],"Practitioners\u2014The":[246],"presented":[247],"order":[254,291],"large":[257],"variety":[258],"like":[261],"decoration":[262],"accessories,":[263],"furniture,":[264],"home":[265],"interiors,":[266],"frames,":[267],"etc.,":[268],"in":[269],"practices.":[271],"They":[272],"also":[274],"be":[275],"used":[276],"scenarios":[278],"stacking":[281],"or":[282],"piling":[283],"up":[284],"multiple":[285],"objects.":[286],"generated":[288,338],"more":[293],"friendly":[294],"systems":[298],"than":[299],"previous":[300],"planners":[302],"ignored":[304],"merits":[306],"robotic":[308,342,361],"collaboration.":[309],"Also,":[310],"generates":[315],"necessary":[317],"information":[318],"planner,":[322],"such":[323],"as":[324],"grasp":[325],"poses":[326],"directions.":[330],"directly":[335],"use":[336],"results":[339],"plan":[341],"motion..":[344],"expected":[350],"significantly":[352],"reduce":[353],"effort":[355],"increase":[357],"efficiency":[359],"lines.":[363]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}