{"id":"https://openalex.org/W2985409235","doi":"https://doi.org/10.1109/tcns.2022.3181724","title":"Cooperative Manipulation via Internal Force Regulation: A Rigidity Theory Perspective","display_name":"Cooperative Manipulation via Internal Force Regulation: A Rigidity Theory Perspective","publication_year":2022,"publication_date":"2022-06-10","ids":{"openalex":"https://openalex.org/W2985409235","doi":"https://doi.org/10.1109/tcns.2022.3181724","mag":"2985409235"},"language":"en","primary_location":{"id":"doi:10.1109/tcns.2022.3181724","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcns.2022.3181724","pdf_url":null,"source":{"id":"https://openalex.org/S2502544478","display_name":"IEEE Transactions on Control of Network Systems","issn_l":"2325-5870","issn":["2325-5870","2372-2533"],"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 Control of Network Systems","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1911.01297","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016121500","display_name":"Christos K. Verginis","orcid":"https://orcid.org/0000-0002-4289-2866"},"institutions":[{"id":"https://openalex.org/I123387679","display_name":"Uppsala University","ror":"https://ror.org/048a87296","country_code":"SE","type":"education","lineage":["https://openalex.org/I123387679"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Christos K. Verginis","raw_affiliation_strings":["Division of Signals and Systems, Department of Electrical Engineering, Uppsala University, Uppsala, Sweden"],"affiliations":[{"raw_affiliation_string":"Division of Signals and Systems, Department of Electrical Engineering, Uppsala University, Uppsala, Sweden","institution_ids":["https://openalex.org/I123387679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047488984","display_name":"Daniel Zelazo","orcid":"https://orcid.org/0000-0002-2931-245X"},"institutions":[{"id":"https://openalex.org/I174306211","display_name":"Technion \u2013 Israel Institute of Technology","ror":"https://ror.org/03qryx823","country_code":"IL","type":"education","lineage":["https://openalex.org/I174306211"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Daniel Zelazo","raw_affiliation_strings":["Technion-Israel Institute of Technology, Haifa, Israel"],"affiliations":[{"raw_affiliation_string":"Technion-Israel Institute of Technology, Haifa, Israel","institution_ids":["https://openalex.org/I174306211"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055348953","display_name":"Dimos V. Dimarogonas","orcid":"https://orcid.org/0000-0001-7309-8086"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Dimos V. Dimarogonas","raw_affiliation_strings":["KTH Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5016121500"],"corresponding_institution_ids":["https://openalex.org/I123387679"],"apc_list":null,"apc_paid":null,"fwci":1.787,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.82644652,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"10","issue":"3","first_page":"1222","last_page":"1233"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9997000098228455,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9970999956130981,"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/rigidity","display_name":"Rigidity (electromagnetism)","score":0.8299686908721924},{"id":"https://openalex.org/keywords/infinitesimal","display_name":"Infinitesimal","score":0.6952946186065674},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6526710987091064},{"id":"https://openalex.org/keywords/internal-forces","display_name":"Internal forces","score":0.6021065711975098},{"id":"https://openalex.org/keywords/graph-theory","display_name":"Graph theory","score":0.5062522292137146},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.47383981943130493},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4458655118942261},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3913632333278656},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.34050533175468445},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.2203088402748108},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.16113770008087158},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1600179374217987},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.1485740840435028},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14265850186347961},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09590417146682739}],"concepts":[{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.8299686908721924},{"id":"https://openalex.org/C91229774","wikidata":"https://www.wikidata.org/wiki/Q193885","display_name":"Infinitesimal","level":2,"score":0.6952946186065674},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6526710987091064},{"id":"https://openalex.org/C2986502102","wikidata":"https://www.wikidata.org/wiki/Q4291900","display_name":"Internal forces","level":2,"score":0.6021065711975098},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.5062522292137146},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.47383981943130493},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4458655118942261},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3913632333278656},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.34050533175468445},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.2203088402748108},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.16113770008087158},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1600179374217987},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.1485740840435028},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14265850186347961},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09590417146682739},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcns.2022.3181724","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcns.2022.3181724","pdf_url":null,"source":{"id":"https://openalex.org/S2502544478","display_name":"IEEE Transactions on Control of Network Systems","issn_l":"2325-5870","issn":["2325-5870","2372-2533"],"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 Control of Network Systems","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1911.01297","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1911.01297","pdf_url":"https://arxiv.org/pdf/1911.01297","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1911.01297","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1911.01297","pdf_url":"https://arxiv.org/pdf/1911.01297","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320338335","display_name":"H2020 European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":62,"referenced_works":["https://openalex.org/W1502151758","https://openalex.org/W1503019334","https://openalex.org/W1560270123","https://openalex.org/W1600353077","https://openalex.org/W1602894818","https://openalex.org/W1635192251","https://openalex.org/W1945217699","https://openalex.org/W1964537835","https://openalex.org/W1972941263","https://openalex.org/W1974194387","https://openalex.org/W1977227980","https://openalex.org/W1979432817","https://openalex.org/W1981826826","https://openalex.org/W1989746389","https://openalex.org/W2003701638","https://openalex.org/W2006805041","https://openalex.org/W2021324626","https://openalex.org/W2044483173","https://openalex.org/W2046287268","https://openalex.org/W2051643363","https://openalex.org/W2051734702","https://openalex.org/W2053983794","https://openalex.org/W2059688021","https://openalex.org/W2065906444","https://openalex.org/W2081519125","https://openalex.org/W2082511574","https://openalex.org/W2085536277","https://openalex.org/W2093976773","https://openalex.org/W2104910906","https://openalex.org/W2106353864","https://openalex.org/W2107615213","https://openalex.org/W2110862165","https://openalex.org/W2113265921","https://openalex.org/W2115536129","https://openalex.org/W2126877763","https://openalex.org/W2130351752","https://openalex.org/W2130532917","https://openalex.org/W2141222604","https://openalex.org/W2144529738","https://openalex.org/W2162495121","https://openalex.org/W2164824354","https://openalex.org/W2215696702","https://openalex.org/W2295847848","https://openalex.org/W2343422466","https://openalex.org/W2411959940","https://openalex.org/W2417756257","https://openalex.org/W2569500671","https://openalex.org/W2727874355","https://openalex.org/W2736338601","https://openalex.org/W2805194797","https://openalex.org/W2920194041","https://openalex.org/W2962775704","https://openalex.org/W2962992878","https://openalex.org/W2963172089","https://openalex.org/W2963196424","https://openalex.org/W2963298412","https://openalex.org/W3090705592","https://openalex.org/W3157679994","https://openalex.org/W4250589301","https://openalex.org/W4251092624","https://openalex.org/W6630103998","https://openalex.org/W6651344518"],"related_works":["https://openalex.org/W2948176890","https://openalex.org/W4294201350","https://openalex.org/W1827844156","https://openalex.org/W2068360468","https://openalex.org/W2599583908","https://openalex.org/W4302569442","https://openalex.org/W2949837591","https://openalex.org/W2383632578","https://openalex.org/W2056749746","https://openalex.org/W4246410535"],"abstract_inverted_index":{"This":[0],"article":[1],"considers":[2],"the":[3,22,30,50,56,67,73,79,85,91,100,115,118,127,140,143],"integration":[4],"of":[5,16,32,52,59,84,142],"rigid":[6,14,60,81],"cooperative":[7,17,61,93,133],"manipulation":[8,18,62,94,134],"with":[9],"rigidity":[10,36,75,101],"theory.":[11],"Motivated":[12],"by":[13,71],"models":[15],"systems,":[19],"i.e.,":[20],"where":[21],"grasping":[23],"contacts":[24],"are":[25],"rigid,":[26],"we":[27,48,65,88,110],"introduce,":[28],"first,":[29],"notion":[31],"bearing":[33],"and":[34,64,121],"distance":[35],"for":[37],"graph":[38,74],"frameworks":[39,54],"in":[40],"<inline-formula":[41],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[42],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[43],"notation=\"LaTeX\">$\\mathsf":[44],"{SE}(3)$</tex-math></inline-formula>":[45],".":[46],"Next,":[47],"associate":[49],"nodes":[51],"these":[53],"to":[55,99],"robotic":[57],"agents":[58],"schemes":[63],"express":[66],"object-agent":[68],"internal":[69,122],"forces":[70,123],"using":[72],"matrix,":[76],"which":[77,109],"encodes":[78],"infinitesimal":[80],"body":[82],"motions":[83],"system.":[86,135],"Moreover,":[87],"show":[89],"that":[90],"associated":[92],"grasp":[95],"matrix":[96,102],"is":[97],"related":[98],"via":[103],"a":[104,132],"range-nullspace":[105],"relation,":[106],"based":[107],"on":[108,114,126,131],"provide":[111],"novel":[112],"results":[113,138],"relation":[116],"between":[117],"arising":[119],"interaction":[120],"and,":[124],"consequently,":[125],"energy-optimal":[128],"force":[129],"distribution":[130],"Finally,":[136],"simulation":[137],"enhance":[139],"validity":[141],"theoretical":[144],"findings.":[145]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
