{"id":"https://openalex.org/W4393139803","doi":"https://doi.org/10.1109/tro.2024.3381551","title":"Impact-Aware Bimanual Catching of Large-Momentum Objects","display_name":"Impact-Aware Bimanual Catching of Large-Momentum Objects","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4393139803","doi":"https://doi.org/10.1109/tro.2024.3381551"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3381551","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3381551","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.research.ed.ac.uk/en/publications/ad27e485-b48f-4be4-8bc2-a566583a7604","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019936956","display_name":"Lei Yan","orcid":"https://orcid.org/0000-0003-1493-7147"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Yan","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms Adaptive Robots, Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong, China"],"raw_orcid":"https://orcid.org/0000-0003-1493-7147","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms Adaptive Robots, Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong, China","institution_ids":["https://openalex.org/I4210142539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008547414","display_name":"Theodoros Stouraitis","orcid":"https://orcid.org/0000-0002-6345-892X"},"institutions":[{"id":"https://openalex.org/I4210112253","display_name":"Honda (Germany)","ror":"https://ror.org/022c1xk47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210112253"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Theodoros Stouraitis","raw_affiliation_strings":["Honda Research Institute Europe (HRI-EU), Offenbach am Main, Germany"],"raw_orcid":"https://orcid.org/0000-0002-6345-892X","affiliations":[{"raw_affiliation_string":"Honda Research Institute Europe (HRI-EU), Offenbach am Main, Germany","institution_ids":["https://openalex.org/I4210112253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090546247","display_name":"Jo\u00e3o Moura","orcid":"https://orcid.org/0000-0002-1812-7857"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jo\u00e3o Moura","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0002-1812-7857","affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035195155","display_name":"Wenfu Xu","orcid":"https://orcid.org/0000-0001-8218-6061"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenfu Xu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms Adaptive Robots, Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong, China"],"raw_orcid":"https://orcid.org/0000-0001-8218-6061","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms Adaptive Robots, Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong, China","institution_ids":["https://openalex.org/I4210142539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025560073","display_name":"Michael Gienger","orcid":"https://orcid.org/0000-0001-8036-2519"},"institutions":[{"id":"https://openalex.org/I4210112253","display_name":"Honda (Germany)","ror":"https://ror.org/022c1xk47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210112253"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Gienger","raw_affiliation_strings":["Honda Research Institute Europe (HRI-EU), Offenbach am Main, Germany"],"raw_orcid":"https://orcid.org/0000-0001-8036-2519","affiliations":[{"raw_affiliation_string":"Honda Research Institute Europe (HRI-EU), Offenbach am Main, Germany","institution_ids":["https://openalex.org/I4210112253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069715982","display_name":"Sethu Vijayakumar","orcid":"https://orcid.org/0000-0003-0649-7241"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sethu Vijayakumar","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0003-0649-7241","affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.9937,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.95285903,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"40","issue":null,"first_page":"2543","last_page":"2563"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11694","display_name":"Fluid Dynamics Simulations and Interactions","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9941999912261963,"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/computer-science","display_name":"Computer science","score":0.5520784854888916},{"id":"https://openalex.org/keywords/momentum","display_name":"Momentum (technical analysis)","score":0.4367640018463135},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.425503134727478},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38348188996315},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36353060603141785},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.32961171865463257},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.32790955901145935},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.15407022833824158}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5520784854888916},{"id":"https://openalex.org/C60718061","wikidata":"https://www.wikidata.org/wiki/Q1414747","display_name":"Momentum (technical analysis)","level":2,"score":0.4367640018463135},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.425503134727478},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38348188996315},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36353060603141785},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32961171865463257},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.32790955901145935},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.15407022833824158},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2024.3381551","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3381551","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:pure.ed.ac.uk:publications/ad27e485-b48f-4be4-8bc2-a566583a7604","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/ad27e485-b48f-4be4-8bc2-a566583a7604","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Yan, L, Stouraitis, T, Moura, J, Xu, W, Gienger, M & Vijayakumar, S 2024, 'Impact-Aware Bimanual Catching of Large-Momentum Objects', IEEE Transactions on Robotics, vol. 40, pp. 2543-2563. https://doi.org/10.1109/TRO.2024.3381551","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:publications/ad27e485-b48f-4be4-8bc2-a566583a7604","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/ad27e485-b48f-4be4-8bc2-a566583a7604","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Yan, L, Stouraitis, T, Moura, J, Xu, W, Gienger, M & Vijayakumar, S 2024, 'Impact-Aware Bimanual Catching of Large-Momentum Objects', IEEE Transactions on Robotics, vol. 40, pp. 2543-2563. https://doi.org/10.1109/TRO.2024.3381551","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"display_name":"Climate action","score":0.44999998807907104,"id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G317581814","display_name":null,"funder_award_id":"101017008","funder_id":"https://openalex.org/F4320313467","funder_display_name":"Alan Turing Institute"},{"id":"https://openalex.org/G3211235147","display_name":null,"funder_award_id":"62203140","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320313467","display_name":"Alan Turing Institute","ror":"https://ror.org/035dkdb55"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":73,"referenced_works":["https://openalex.org/W1543608798","https://openalex.org/W1983240434","https://openalex.org/W2000769684","https://openalex.org/W2010072864","https://openalex.org/W2011833550","https://openalex.org/W2013104470","https://openalex.org/W2013467411","https://openalex.org/W2018020788","https://openalex.org/W2020413706","https://openalex.org/W2025389731","https://openalex.org/W2040227765","https://openalex.org/W2043907127","https://openalex.org/W2047887376","https://openalex.org/W2048517616","https://openalex.org/W2064878003","https://openalex.org/W2078303580","https://openalex.org/W2090974678","https://openalex.org/W2095905067","https://openalex.org/W2099308299","https://openalex.org/W2104964762","https://openalex.org/W2109163007","https://openalex.org/W2110437627","https://openalex.org/W2112222053","https://openalex.org/W2116139612","https://openalex.org/W2162207896","https://openalex.org/W2163862895","https://openalex.org/W2247230765","https://openalex.org/W2282811527","https://openalex.org/W2296267969","https://openalex.org/W2327315597","https://openalex.org/W2562662934","https://openalex.org/W2737884499","https://openalex.org/W2767578104","https://openalex.org/W2773752100","https://openalex.org/W2786036844","https://openalex.org/W2789539638","https://openalex.org/W2805883505","https://openalex.org/W2906695929","https://openalex.org/W2910324469","https://openalex.org/W2918308866","https://openalex.org/W2962784835","https://openalex.org/W2963092423","https://openalex.org/W2963262330","https://openalex.org/W2972461995","https://openalex.org/W3008484917","https://openalex.org/W3024987186","https://openalex.org/W3044175123","https://openalex.org/W3049156125","https://openalex.org/W3091445510","https://openalex.org/W3105264685","https://openalex.org/W3129503641","https://openalex.org/W3133097009","https://openalex.org/W3136831392","https://openalex.org/W3138680983","https://openalex.org/W3165800274","https://openalex.org/W3200237795","https://openalex.org/W3200364395","https://openalex.org/W3202716684","https://openalex.org/W3203017576","https://openalex.org/W4205757878","https://openalex.org/W4211144636","https://openalex.org/W4224137139","https://openalex.org/W4225896760","https://openalex.org/W4230616527","https://openalex.org/W4280586263","https://openalex.org/W4285059527","https://openalex.org/W4294691804","https://openalex.org/W4312760748","https://openalex.org/W6747827861","https://openalex.org/W6755907941","https://openalex.org/W6801425602","https://openalex.org/W6802414455","https://openalex.org/W6846211847"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W2170721890","https://openalex.org/W2122871747","https://openalex.org/W1990892711"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"one":[3],"of":[4,18,32,95,109,172],"the":[5,16,29,39,44,49,61,69,72,76,90,96,102,110,123,141,146,157,170,173],"most":[6],"challenging":[7],"tasks":[8],"in":[9,54,166,176],"dynamic":[10,24],"manipulation-catching":[11],"large-momentum":[12,181],"moving":[13,46,182],"objects.":[14],"Beyond":[15],"realm":[17],"quasi-static":[19],"manipulation,":[20],"dealing":[21],"with":[22,34,184],"highly":[23],"objects":[25,183],"can":[26],"significantly":[27],"improve":[28],"robot's":[30],"capability":[31],"interacting":[33],"its":[35],"surrounding":[36],"environment.":[37],"Yet,":[38],"inevitable":[40],"motion":[41,94,144,188],"mismatch":[42],"between":[43],"fast":[45],"object":[47,70,111],"and":[48,64,71,88,92,100,127,138,162,168,189],"approaching":[50],"robot":[51],"will":[52],"result":[53],"large":[55],"impulsive":[56],"forces,":[57],"which":[58],"lead":[59],"to":[60,67,112],"unstable":[62],"contacts":[63],"irreversible":[65],"damage":[66],"both":[68,131],"robot.":[73],"To":[74],"address":[75],"above":[77],"problems,":[78],"we":[79],"propose":[80],"an":[81],"online":[82],"optimization":[83,136],"framework":[84,175],"to:":[85],"1)":[86],"estimate":[87],"predict":[89],"linear":[91],"angular":[93],"object;":[97],"2)":[98],"search":[99],"select":[101],"optimal":[103],"contact":[104,128,160],"locations":[105],"across":[106],"every":[107],"surface":[108],"mitigate":[113],"impact":[114],"through":[115],"sequential":[116],"quadratic":[117],"programming":[118],"(SQP);":[119],"3)":[120],"simultaneously":[121],"optimize":[122],"end-effector":[124],"motion,":[125,186],"stiffness,":[126],"force":[129,153],"for":[130],"robots":[132],"using":[133],"multi-mode":[134],"trajectory":[135],"(MMTO);":[137],"4)":[139],"realise":[140],"impact-aware":[142],"catching":[143,180],"on":[145,151],"compliant":[147],"robotic":[148],"system":[149],"based":[150],"indirect":[152],"controller.":[154],"We":[155],"validate":[156],"impulse":[158],"distribution,":[159],"selection,":[161],"impactaware":[163],"MMTO":[164],"algorithms":[165],"simulation":[167],"demonstrate":[169],"benefits":[171],"proposed":[174],"real-world":[177],"experiments":[178],"including":[179],"welldefined":[185],"constrained":[187],"free-flying":[190],"motion.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":4}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
