{"id":"https://openalex.org/W4285497918","doi":"https://doi.org/10.1109/ur55393.2022.9826256","title":"Online Telemanipulation Framework on Humanoid for both Manipulation and Imitation","display_name":"Online Telemanipulation Framework on Humanoid for both Manipulation and Imitation","publication_year":2022,"publication_date":"2022-07-04","ids":{"openalex":"https://openalex.org/W4285497918","doi":"https://doi.org/10.1109/ur55393.2022.9826256"},"language":"en","primary_location":{"id":"doi:10.1109/ur55393.2022.9826256","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur55393.2022.9826256","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 19th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-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/A5023725931","display_name":"Daegyu Lim","orcid":"https://orcid.org/0000-0002-0012-1799"},"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":"Daegyu Lim","raw_affiliation_strings":["Seoul National University,Department of Intelligence and Information, and Automation and Systems Research Institute,Seoul,Republic of Korea,KS013"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Intelligence and Information, and Automation and Systems Research Institute,Seoul,Republic of Korea,KS013","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041763219","display_name":"Donghyeon Kim","orcid":"https://orcid.org/0000-0002-9549-8758"},"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":"Donghyeon Kim","raw_affiliation_strings":["Seoul National University,Department of Intelligence and Information, and Automation and Systems Research Institute,Seoul,Republic of Korea,KS013"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Intelligence and Information, and Automation and Systems Research Institute,Seoul,Republic of Korea,KS013","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031070386","display_name":"Jaeheung Park","orcid":"https://orcid.org/0000-0002-5062-8264"},"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"]},{"id":"https://openalex.org/I4210120602","display_name":"Advanced Institute of Convergence Technology","ror":"https://ror.org/01w62yz22","country_code":"KR","type":"facility","lineage":["https://openalex.org/I139264467","https://openalex.org/I4210120602"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaeheung Park","raw_affiliation_strings":["Seoul National University,Department of Intelligence and Information, and Automation and Systems Research Institute,Seoul,Republic of Korea,KS013","Advanced Institutes of Convergence Technology, Suwon, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Intelligence and Information, and Automation and Systems Research Institute,Seoul,Republic of Korea,KS013","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Advanced Institutes of Convergence Technology, Suwon, Republic of Korea","institution_ids":["https://openalex.org/I4210120602"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9709,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.73958353,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"8","last_page":"15"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9991999864578247,"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/T12290","display_name":"Human Motion and Animation","score":0.9991999864578247,"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/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.736993670463562},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6448965072631836},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6234502792358398},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.61363685131073},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.608366847038269},{"id":"https://openalex.org/keywords/retargeting","display_name":"Retargeting","score":0.594974160194397},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.586833655834198},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49823474884033203},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4712771773338318},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.44491755962371826},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.43697795271873474},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2876679599285126},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2212054431438446}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.736993670463562},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6448965072631836},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6234502792358398},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.61363685131073},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.608366847038269},{"id":"https://openalex.org/C2780575108","wikidata":"https://www.wikidata.org/wiki/Q7316652","display_name":"Retargeting","level":2,"score":0.594974160194397},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.586833655834198},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49823474884033203},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4712771773338318},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.44491755962371826},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.43697795271873474},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2876679599285126},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2212054431438446},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ur55393.2022.9826256","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur55393.2022.9826256","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 19th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7799999713897705,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1994634749","https://openalex.org/W2203344779","https://openalex.org/W2788244128","https://openalex.org/W2896690662","https://openalex.org/W2906540835","https://openalex.org/W2963202339","https://openalex.org/W2965800383","https://openalex.org/W3004144700","https://openalex.org/W3025281718","https://openalex.org/W3038170185","https://openalex.org/W3122282950","https://openalex.org/W3205547335","https://openalex.org/W3205970613","https://openalex.org/W3210488536"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W2097059456","https://openalex.org/W4315881361","https://openalex.org/W817518365","https://openalex.org/W4318953217","https://openalex.org/W2145103607","https://openalex.org/W2141648055","https://openalex.org/W4367662652","https://openalex.org/W2145960295","https://openalex.org/W2078176643"],"abstract_inverted_index":{"Teleoperation":[0],"of":[1,27,73,86,108,122,138],"the":[2,10,13,17,25,28,33,41,53,59,62,66,70,74,87,91,96,106,109,123,139],"robot":[3,11,37,60],"is":[4,49],"a":[5,45,117,127,132,136],"promising":[6],"technology":[7],"that":[8],"brings":[9],"to":[12,51],"real":[14,133],"life":[15],"because":[16],"complex":[18],"decision-making":[19],"algorithm":[20,48],"can":[21],"be":[22],"replaced":[23],"by":[24],"supervision":[26],"human":[29],"operator.":[30,63],"To":[31,104],"teleoperate":[32],"high":[34],"dimensional":[35],"humanoid":[36,75],"intuitively":[38],"like":[39],"moving":[40],"operator\u2019s":[42],"own":[43],"body,":[44],"motion":[46,92],"retargeting":[47],"required":[50],"bridge":[52],"kinematics":[54],"and":[55,61,95,135],"dynamics":[56],"differences":[57],"between":[58],"We":[64],"propose":[65],"telemanipulation":[67,129],"framework":[68,84],"for":[69,120],"upper":[71],"body":[72],"only":[76],"using":[77,99],"6":[78],"Virtual":[79],"Reality":[80],"(VR)":[81],"trackers.":[82],"The":[83],"consists":[85],"pose":[88],"calibration":[89],"procedure,":[90],"mapping":[93,140],"method,":[94,111],"multi-task":[97],"control":[98],"Hierarchical":[100],"Quadratic":[101],"Programming":[102],"(HQP).":[103],"validate":[105],"effect":[107],"proposed":[110],"three":[112],"experiments":[113],"are":[114],"conducted":[115],"including":[116],"user":[118],"study":[119],"analysis":[121],"hand":[124],"position":[125],"mapping,":[126],"dual-arm":[128],"task":[130],"in":[131,142],"robot,":[134],"comparison":[137],"methods":[141],"visual":[143],"similarity.":[144]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
