{"id":"https://openalex.org/W4399039623","doi":"https://doi.org/10.1109/tcyb.2024.3390947","title":"Whole Body Control of Mobile Manipulators With Series Elastic Actuators for Cart Pushing Tasks","display_name":"Whole Body Control of Mobile Manipulators With Series Elastic Actuators for Cart Pushing Tasks","publication_year":2024,"publication_date":"2024-05-27","ids":{"openalex":"https://openalex.org/W4399039623","doi":"https://doi.org/10.1109/tcyb.2024.3390947","pmid":"https://pubmed.ncbi.nlm.nih.gov/38801684"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2024.3390947","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2024.3390947","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5064767133","display_name":"Xiaoqian Ren","orcid":"https://orcid.org/0000-0002-0542-2144"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210146112","display_name":"Shanghai Sunshine Rehabilitation Center","ror":"https://ror.org/03gqsr633","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210146112"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaoqian Ren","raw_affiliation_strings":["School of Mechanical Engineering and the Translational Research Center, Shanghai Yangzhi Rehabilitation Hospital (Shanghai Sunshine Rehabilitation Center), Tongji University, Shanghai, China","Department of Automation, University of Science and Technology of China, Hefei, China","Shanghai Yangzhi Rehabilitation Hospital (Shanghai Sunshine Rehabilitation Center), School of Mechanical Engineering and the Translational Research Center, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and the Translational Research Center, Shanghai Yangzhi Rehabilitation Hospital (Shanghai Sunshine Rehabilitation Center), Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210146112"]},{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Shanghai Yangzhi Rehabilitation Hospital (Shanghai Sunshine Rehabilitation Center), School of Mechanical Engineering and the Translational Research Center, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210146112"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100450024","display_name":"Zhijun Li","orcid":"https://orcid.org/0000-0002-3909-488X"},"institutions":[{"id":"https://openalex.org/I4210146112","display_name":"Shanghai Sunshine Rehabilitation Center","ror":"https://ror.org/03gqsr633","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210146112"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijun Li","raw_affiliation_strings":["School of Mechanical Engineering and the Translational Research Center, Shanghai Yangzhi Rehabilitation Hospital (Shanghai Sunshine Rehabilitation Center), Tongji University, Shanghai, China","Shanghai Yangzhi Rehabilitation Hospital (Shanghai Sunshine Rehabilitation Center), School of Mechanical Engineering and the Translational Research Center, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and the Translational Research Center, Shanghai Yangzhi Rehabilitation Hospital (Shanghai Sunshine Rehabilitation Center), Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210146112"]},{"raw_affiliation_string":"Shanghai Yangzhi Rehabilitation Hospital (Shanghai Sunshine Rehabilitation Center), School of Mechanical Engineering and the Translational Research Center, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210146112"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081318069","display_name":"MengChu Zhou","orcid":"https://orcid.org/0000-0002-5408-8752"},"institutions":[{"id":"https://openalex.org/I118118575","display_name":"New Jersey Institute of Technology","ror":"https://ror.org/05e74xb87","country_code":"US","type":"education","lineage":["https://openalex.org/I118118575"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"MengChu Zhou","raw_affiliation_strings":["Department of Electrical and Computer Engineering, New Jersey Institute of Technology, Newark, NJ, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, New Jersey Institute of Technology, Newark, NJ, USA","institution_ids":["https://openalex.org/I118118575"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5064767133"],"corresponding_institution_ids":["https://openalex.org/I126520041","https://openalex.org/I4210146112"],"apc_list":null,"apc_paid":null,"fwci":1.2707,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.77297041,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"54","issue":"12","first_page":"7891","last_page":"7904"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9922999739646912,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9922999739646912,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9918000102043152,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9866999983787537,"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/cart","display_name":"Cart","score":0.8576499223709106},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.7433423399925232},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7106998562812805},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5616468787193298},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5520489811897278},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5049195885658264},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3905673325061798},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27251583337783813},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21668383479118347},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10651525855064392},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.061948150396347046}],"concepts":[{"id":"https://openalex.org/C2777275308","wikidata":"https://www.wikidata.org/wiki/Q234668","display_name":"Cart","level":2,"score":0.8576499223709106},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.7433423399925232},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7106998562812805},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5616468787193298},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5520489811897278},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5049195885658264},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3905673325061798},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27251583337783813},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21668383479118347},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10651525855064392},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.061948150396347046},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2024.3390947","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2024.3390947","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},{"id":"pmid:38801684","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38801684","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5099999904632568,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G668992079","display_name":null,"funder_award_id":"62133013","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6872146507","display_name":null,"funder_award_id":"2308085QF206","funder_id":"https://openalex.org/F4320334897","funder_display_name":"Natural Science Foundation of Anhui Province"},{"id":"https://openalex.org/G7755824317","display_name":null,"funder_award_id":"U22A2060","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7979423000","display_name":null,"funder_award_id":"62303151","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8163756125","display_name":null,"funder_award_id":"2023M733385","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8178624887","display_name":null,"funder_award_id":"62333007","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334897","display_name":"Natural Science Foundation of Anhui Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W1972123890","https://openalex.org/W2005274391","https://openalex.org/W2101036899","https://openalex.org/W2121478978","https://openalex.org/W2130180074","https://openalex.org/W2130691388","https://openalex.org/W2148661625","https://openalex.org/W2164017785","https://openalex.org/W2566495809","https://openalex.org/W2623634636","https://openalex.org/W2722424650","https://openalex.org/W2764267208","https://openalex.org/W2767704770","https://openalex.org/W2774098503","https://openalex.org/W2897873640","https://openalex.org/W2899575514","https://openalex.org/W2916156896","https://openalex.org/W2963037989","https://openalex.org/W2963139193","https://openalex.org/W2968260563","https://openalex.org/W2969559501","https://openalex.org/W3008038390","https://openalex.org/W3008199013","https://openalex.org/W3014873648","https://openalex.org/W3023558349","https://openalex.org/W3036867617","https://openalex.org/W3083523983","https://openalex.org/W3089552519","https://openalex.org/W3107699934","https://openalex.org/W3111061463","https://openalex.org/W3123054758","https://openalex.org/W3124521735","https://openalex.org/W3138731556","https://openalex.org/W3144387230","https://openalex.org/W3193905726","https://openalex.org/W3194499284","https://openalex.org/W3205851729","https://openalex.org/W3207311111","https://openalex.org/W3208499888","https://openalex.org/W4206756835","https://openalex.org/W4226422953","https://openalex.org/W4229457263","https://openalex.org/W4248327311","https://openalex.org/W4281665577","https://openalex.org/W4286372563","https://openalex.org/W4293258846","https://openalex.org/W4307229970","https://openalex.org/W4319988676","https://openalex.org/W4320008889","https://openalex.org/W4327663266","https://openalex.org/W4376623500","https://openalex.org/W4379033824","https://openalex.org/W4386750580","https://openalex.org/W4387139077","https://openalex.org/W4389666589","https://openalex.org/W4391627003"],"related_works":["https://openalex.org/W3193909393","https://openalex.org/W2322350723","https://openalex.org/W2618011907","https://openalex.org/W4226229889","https://openalex.org/W2945144341","https://openalex.org/W2974098477","https://openalex.org/W4244679540","https://openalex.org/W4234906596","https://openalex.org/W4229591372","https://openalex.org/W2071544734"],"abstract_inverted_index":{"Human-centered":[0],"environments":[1,22],"provide":[2,107],"affordance":[3],"for":[4,51,60,115,150],"the":[5,74,78,81,86,93,99,105,122,162,172,178,187],"use":[6],"of":[7,27,40,85,130,177,189],"two-handed":[8,42],"mobile":[9,43,63,87,133,163,179],"manipulators.":[10],"Yet":[11],"robots":[12],"designed":[13],"to":[14,95,165],"function":[15,149],"in":[16,192],"and":[17,65,112,127,174,181],"physically":[18],"interact":[19,96],"with":[20,77,98,121],"such":[21],"are":[23],"not":[24],"yet":[25],"capable":[26],"meeting":[28],"human":[29],"users'":[30],"requirements.":[31],"This":[32],"work":[33,136],"proposes":[34,137],"a":[35,41,117,131,144],"whole":[36,56],"body":[37,57],"control":[38,84,111,114],"framework":[39],"manipulator":[44,88,164],"driven":[45],"by":[46,154,170],"series":[47],"elastic":[48],"actuators":[49],"(SEAs)":[50],"cart":[52,151,167,193],"pushing":[53,116,152,168,194],"tasks.":[54,195],"A":[55],"dynamic":[58],"model":[59,156],"an":[61,138],"integrated":[62],"platform":[64],"on-board":[66],"arms":[67],"is":[68,89],"revealed,":[69],"which":[70],"takes":[71],"into":[72],"account":[73],"interaction":[75],"forces":[76],"cart.":[79,118],"Then,":[80],"explicit":[82],"force/position":[83],"performed.":[90],"It":[91],"enables":[92,161],"robot":[94],"dynamically":[97],"environment":[100],"while":[101],"providing":[102],"motion,":[103],"i.e.,":[104],"manipulators":[106],"both":[108],"output":[109,175],"force":[110,176],"motion":[113],"To":[119],"cope":[120],"highly":[123],"nonlinear":[124],"system":[125],"dynamics":[126],"parameter":[128],"variation":[129],"SEA-driven":[132],"manipulator,":[134],"this":[135,190],"adaptive":[139],"robust":[140],"controller":[141,160],"based":[142],"on":[143],"novel":[145],"integral":[146],"barrier":[147],"Lyapunov":[148],"tasks":[153,169],"considering":[155],"uncertainty.":[157],"The":[158,183],"proposed":[159],"complete":[166],"regulating":[171],"position":[173],"base":[180],"arms.":[182],"experimental":[184],"results":[185],"show":[186],"effectiveness":[188],"approach":[191]},"counts_by_year":[{"year":2025,"cited_by_count":7}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}