{"id":"https://openalex.org/W2060603136","doi":"https://doi.org/10.1109/urai.2011.6145876","title":"Twisting door handle with manipulator under uncertainty","display_name":"Twisting door handle with manipulator under uncertainty","publication_year":2011,"publication_date":"2011-11-01","ids":{"openalex":"https://openalex.org/W2060603136","doi":"https://doi.org/10.1109/urai.2011.6145876","mag":"2060603136"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2011.6145876","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2011.6145876","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5069038406","display_name":"P. K. Kim","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":"P. K. Kim","raw_affiliation_strings":["Department of Intelligent Convergence Systems, Seoul National University, South Korea","Department of Intelligent Convergence Systems, Seoul National University, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Intelligent Convergence Systems, Seoul National University, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Intelligent Convergence Systems, Seoul National University, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069100903","display_name":"Yisoo Lee","orcid":"https://orcid.org/0000-0001-8135-4094"},"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":"Yisoo Lee","raw_affiliation_strings":["Department of Intelligent Convergence Systems, Seoul National University, South Korea","Department of Intelligent Convergence Systems, Seoul National University, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Intelligent Convergence Systems, Seoul National University, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Intelligent Convergence Systems, Seoul National University, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102901170","display_name":"Jaeheung Park","orcid":"https://orcid.org/0000-0002-1272-508X"},"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":"Jaeheung Park","raw_affiliation_strings":["Department of Intelligent Convergence Systems, Seoul National University, South Korea","Department of Intelligent Convergence Systems, Seoul National University, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Intelligent Convergence Systems, Seoul National University, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Intelligent Convergence Systems, Seoul National University, Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"525","last_page":"529"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9987999796867371,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.991100013256073,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6781671047210693},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6518396139144897},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6433719396591187},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.6347960233688354},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5880087018013},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5709577798843384},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.5082947611808777},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.49645739793777466},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4958089292049408},{"id":"https://openalex.org/keywords/instant-centre-of-rotation","display_name":"Instant centre of rotation","score":0.44686809182167053},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4195174276828766},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.4139740467071533},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39557236433029175},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3950961232185364},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32662081718444824},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2613193392753601},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2537950873374939},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2439497709274292},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10275393724441528},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.07363307476043701}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6781671047210693},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6518396139144897},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6433719396591187},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.6347960233688354},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5880087018013},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5709577798843384},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.5082947611808777},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.49645739793777466},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4958089292049408},{"id":"https://openalex.org/C76724020","wikidata":"https://www.wikidata.org/wiki/Q1429043","display_name":"Instant centre of rotation","level":3,"score":0.44686809182167053},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4195174276828766},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4139740467071533},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39557236433029175},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3950961232185364},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32662081718444824},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2613193392753601},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2537950873374939},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2439497709274292},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10275393724441528},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.07363307476043701},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2011.6145876","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2011.6145876","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W48695713","https://openalex.org/W2042428748","https://openalex.org/W2051819074","https://openalex.org/W2111946481","https://openalex.org/W2112474089","https://openalex.org/W2117395059","https://openalex.org/W2118800280","https://openalex.org/W2125691069","https://openalex.org/W2141789091","https://openalex.org/W2159571890","https://openalex.org/W2162434188","https://openalex.org/W2519933945","https://openalex.org/W6662971569","https://openalex.org/W6677560454","https://openalex.org/W6684027672","https://openalex.org/W6726845938"],"related_works":["https://openalex.org/W4234825356","https://openalex.org/W2695075568","https://openalex.org/W4361186078","https://openalex.org/W2331363374","https://openalex.org/W2329712830","https://openalex.org/W2724068543","https://openalex.org/W1995224181","https://openalex.org/W577644862","https://openalex.org/W2373585563","https://openalex.org/W2643283410"],"abstract_inverted_index":{"The":[0,17,106],"paper":[1],"presents":[2],"a":[3,7,13,40],"door":[4,9,18,48,70,87,102],"opening":[5,19],"strategy,":[6,11],"twisting":[8,104],"handle":[10,49,71,88],"with":[12],"manipulator":[14],"under":[15],"uncertainty.":[16],"is":[20,50,57,89,95,112],"one":[21],"of":[22,28,68,76,82,85,108],"the":[23,44,47,65,69,74,80,86,101,109,115],"basic":[24],"yet":[25],"important":[26],"functions":[27],"mobile":[29],"manipulators":[30],"in":[31,33,97],"operating":[32],"human":[34],"environment.":[35],"However,":[36],"it":[37,56],"can":[38],"be":[39],"difficult":[41],"task":[42],"when":[43],"information":[45],"about":[46],"not":[51],"complete.":[52],"In":[53],"this":[54],"paper,":[55],"proposed":[58,110],"to":[59,72,99],"use":[60],"compliant":[61,92],"motion":[62,66,93],"control":[63,94],"and":[64],"constraint":[67],"overcome":[73],"limitation":[75],"uncertain":[77],"information.":[78],"Specifically,":[79],"center":[81],"rotation":[83],"point":[84],"estimated":[90],"while":[91],"applied":[96],"order":[98],"complete":[100],"handle's":[103],"action.":[105],"performance":[107],"strategy":[111],"demonstrated":[113],"by":[114],"experimental":[116],"results.":[117]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
