{"id":"https://openalex.org/W4408914223","doi":"https://doi.org/10.1109/tro.2025.3554411","title":"Wrench Control of Dual-Arm Robot on Flexible Base With Supporting Contact Surface","display_name":"Wrench Control of Dual-Arm Robot on Flexible Base With Supporting Contact Surface","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4408914223","doi":"https://doi.org/10.1109/tro.2025.3554411"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3554411","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3554411","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065566545","display_name":"Jeong-Seob Lee","orcid":"https://orcid.org/0000-0002-3851-7131"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jeongseob Lee","raw_affiliation_strings":["Department of Mechanical Engineering, IAMD and IOER, Seoul National University, Seoul, South Korea","Department of Mechanical Engineering, IAMD and IOER, Seoul National University, Seoul, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-3851-7131","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, IAMD and IOER, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Mechanical Engineering, IAMD and IOER, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104804504","display_name":"D. J. Kong","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Doyoon Kong","raw_affiliation_strings":["Department of Mechanical Engineering, IAMD and IOER, Seoul National University, Seoul, South Korea","Department of Mechanical Engineering, IAMD and IOER, Seoul National University, Seoul, Republic of Korea"],"raw_orcid":"https://orcid.org/0009-0005-0669-9160","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, IAMD and IOER, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Mechanical Engineering, IAMD and IOER, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hojun Cha","orcid":"https://orcid.org/0009-0001-3972-3500"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hojun Cha","raw_affiliation_strings":["Department of Mechanical Engineering, IAMD and IOER, Seoul National University, Seoul, South Korea","Department of Mechanical Engineering, IAMD and IOER, Seoul National University, Seoul, Republic of Korea"],"raw_orcid":"https://orcid.org/0009-0001-3972-3500","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, IAMD and IOER, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Mechanical Engineering, IAMD and IOER, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jeongmin Lee","orcid":"https://orcid.org/0000-0002-6953-4129"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jeongmin Lee","raw_affiliation_strings":["Department of Mechanical Engineering, IAMD and IOER, Seoul National University, Seoul, South Korea","Department of Mechanical Engineering, IAMD and IOER, Seoul National University, Seoul, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-6953-4129","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, IAMD and IOER, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Mechanical Engineering, IAMD and IOER, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100903371","display_name":"Dongseok Ryu","orcid":null},"institutions":[{"id":"https://openalex.org/I155671955","display_name":"Korea Atomic Energy Research Institute","ror":"https://ror.org/01xb4fs50","country_code":"KR","type":"facility","lineage":["https://openalex.org/I155671955","https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dongseok Ryu","raw_affiliation_strings":["Korea Atomic Energy Research Institute, Daejeon, South Korea","Korea Atomic Energy Research Institute, Daejeon, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Atomic Energy Research Institute, Daejeon, South Korea","institution_ids":["https://openalex.org/I155671955"]},{"raw_affiliation_string":"Korea Atomic Energy Research Institute, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I155671955"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hocheol Shin","orcid":"https://orcid.org/0009-0006-4835-3819"},"institutions":[{"id":"https://openalex.org/I155671955","display_name":"Korea Atomic Energy Research Institute","ror":"https://ror.org/01xb4fs50","country_code":"KR","type":"facility","lineage":["https://openalex.org/I155671955","https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hocheol Shin","raw_affiliation_strings":["Korea Atomic Energy Research Institute, Daejeon, South Korea","Korea Atomic Energy Research Institute, Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0009-0006-4835-3819","affiliations":[{"raw_affiliation_string":"Korea Atomic Energy Research Institute, Daejeon, South Korea","institution_ids":["https://openalex.org/I155671955"]},{"raw_affiliation_string":"Korea Atomic Energy Research Institute, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I155671955"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100626026","display_name":"Dongjun Lee","orcid":"https://orcid.org/0000-0003-2108-3960"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dongjun Lee","raw_affiliation_strings":["Department of Mechanical Engineering, IAMD and IOER, Seoul National University, Seoul, South Korea","Department of Mechanical Engineering, IAMD and IOER, Seoul National University, Seoul, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0003-2108-3960","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, IAMD and IOER, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Mechanical Engineering, IAMD and IOER, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5065566545"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":2.1998,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.86311198,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"41","issue":null,"first_page":"2625","last_page":"2644"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9914000034332275,"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":0.9914000034332275,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9817000031471252,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9781000018119812,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.8453494310379028},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.7123515605926514},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6348575353622437},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.5998310446739197},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4682285189628601},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44615063071250916},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.4425009787082672},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.43312498927116394},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4107879102230072},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.395773708820343},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37904858589172363},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.34183844923973083},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2711467146873474},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.20224756002426147},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1288219392299652},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08365514874458313},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07196202874183655}],"concepts":[{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.8453494310379028},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.7123515605926514},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6348575353622437},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.5998310446739197},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4682285189628601},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44615063071250916},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.4425009787082672},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.43312498927116394},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4107879102230072},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.395773708820343},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37904858589172363},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34183844923973083},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2711467146873474},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.20224756002426147},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1288219392299652},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08365514874458313},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07196202874183655},{"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},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3554411","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3554411","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.5600000023841858}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320322741","display_name":"Ministerstvo Pr\u016fmyslu a Obchodu","ror":"https://ror.org/03j4eb467"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1504525575","https://openalex.org/W1560450306","https://openalex.org/W1639840331","https://openalex.org/W1838033012","https://openalex.org/W1934788716","https://openalex.org/W1964043226","https://openalex.org/W1974653552","https://openalex.org/W2032805059","https://openalex.org/W2036273219","https://openalex.org/W2038220101","https://openalex.org/W2061983716","https://openalex.org/W2077726292","https://openalex.org/W2092837335","https://openalex.org/W2115527133","https://openalex.org/W2117505447","https://openalex.org/W2128439950","https://openalex.org/W2136836638","https://openalex.org/W2143729862","https://openalex.org/W2766690711","https://openalex.org/W2771331005","https://openalex.org/W2783840157","https://openalex.org/W2789539638","https://openalex.org/W2792849530","https://openalex.org/W2888628063","https://openalex.org/W2909948532","https://openalex.org/W2912736264","https://openalex.org/W2918308866","https://openalex.org/W2967053444","https://openalex.org/W2968915696","https://openalex.org/W2999253226","https://openalex.org/W3004244692","https://openalex.org/W3004896785","https://openalex.org/W3011714724","https://openalex.org/W3046288380","https://openalex.org/W3142410314","https://openalex.org/W3159689230","https://openalex.org/W3191277169","https://openalex.org/W3203017576","https://openalex.org/W4205967660","https://openalex.org/W4285102448","https://openalex.org/W4367016637","https://openalex.org/W4383109039","https://openalex.org/W4388108845","https://openalex.org/W4390480938","https://openalex.org/W4401416901"],"related_works":["https://openalex.org/W1553869462","https://openalex.org/W3119152702","https://openalex.org/W1585494168","https://openalex.org/W2990736200","https://openalex.org/W3140486956","https://openalex.org/W2360661724","https://openalex.org/W2790471110","https://openalex.org/W1233741067","https://openalex.org/W2762381663","https://openalex.org/W1886477626"],"abstract_inverted_index":{"We":[0,90,111,130],"propose":[1],"a":[2,9,14,25,38,42,96,156],"novel":[3,157],"high-force/high-precision":[4],"interaction":[5,202],"control":[6,94,128,138,193],"framework":[7,51,154],"of":[8,86,116,145,160,206],"dual-arm":[10,162],"robot":[11],"system":[12,74,163],"on":[13],"flexible":[15,88],"base,":[16],"with":[17,164,169],"one":[18],"arm":[19,31],"holding,":[20],"or":[21,47],"making":[22],"contact":[23],"with,":[24],"supporting":[26,59],"surface,":[27],"while":[28,66],"the":[29,58,83,87,93,117,125,133,141,146,161,184,190,197,201,207],"other":[30],"can":[32,52,177],"exert":[33],"any":[34],"arbitrary":[35],"wrench":[36,109,137,192],"in":[37],"certain":[39,170],"polytope":[40],"through":[41,214],"desired":[43],"pose":[44],"against":[45],"environments":[46],"objects.":[48],"Our":[49],"proposed":[50],"achieve":[53],"high-force/precision":[54],"tasks":[55],"by":[56,195],"utilizing":[57],"surface":[60],"just":[61],"as":[62,95],"we":[63],"humans":[64],"do":[65],"taking":[67],"into":[68],"account":[69],"various":[70],"important":[71],"constraints":[72],"(e.g.,":[73],"stability,":[75],"joint":[76],"angle/torque":[77],"limits,":[78],"friction-cone":[79],"constraint,":[80],"etc.)":[81],"and":[82,106,124,143,187,212,216],"passive":[84],"compliance":[85,198],"base.":[89],"first":[91],"design":[92,132,194],"combination":[97],"of:":[98],"1)":[99],"nominal":[100,118],"control;":[101,105],"2)":[102],"active":[103,126],"stiffness":[104,127,158],"3)":[107],"feedback":[108,136,191],"control.":[110,147],"then":[112,210],"sequentially":[113],"perform":[114],"optimizations":[115],"configuration":[119],"(and":[120],"its":[121],"related":[122],"wrenches)":[123],"gain.":[129],"also":[131],"proportional\u2013integral":[134],"type":[135],"to":[139,181,188],"improve":[140],"robustness":[142],"precision":[144],"The":[148,204],"key":[149],"theoretical":[150],"enabler":[151],"for":[152],"our":[153],"is":[155,209],"analysis":[159],"flexibility,":[165],"which,":[166],"when":[167],"combined":[168],"constraints,":[171],"provides":[172],"some":[173],"peculiar":[174],"relations,":[175],"that":[176],"effectively":[178],"be":[179],"used":[180],"significantly":[182],"simplify":[183],"optimization":[185],"problem-solving":[186],"facilitate":[189],"manifesting":[196],"relation":[199],"at":[200],"port.":[203],"efficacy":[205],"theory":[208],"validated":[211],"demonstrated":[213],"simulations":[215],"experiments.":[217]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-21T23:12:01.093139","created_date":"2025-10-10T00:00:00"}