{"id":"https://openalex.org/W2220247459","doi":"https://doi.org/10.1109/urai.2015.7358831","title":"Wall cutting strategy for circular hole using humanoid robot","display_name":"Wall cutting strategy for circular hole using humanoid robot","publication_year":2015,"publication_date":"2015-10-01","ids":{"openalex":"https://openalex.org/W2220247459","doi":"https://doi.org/10.1109/urai.2015.7358831","mag":"2220247459"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2015.7358831","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2015.7358831","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","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/A5032910467","display_name":"Beomyeong Park","orcid":"https://orcid.org/0000-0002-1836-3024"},"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":"Beomyeong Park","raw_affiliation_strings":["Dyros Lab, Seoul National University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Dyros Lab, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062045706","display_name":"Hyunbum Cho","orcid":"https://orcid.org/0000-0003-1546-6156"},"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":"Hyunbum Cho","raw_affiliation_strings":["Dyros Lab, Seoul National University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Dyros Lab, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102882613","display_name":"Wonje Choi","orcid":"https://orcid.org/0000-0002-3542-3316"},"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":"Wonje Choi","raw_affiliation_strings":["Dyros Lab, Seoul National University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Dyros Lab, Seoul National University, Seoul, Republic of Korea","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"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaeheung Park","raw_affiliation_strings":["Dyros Lab, Seoul National University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Dyros Lab, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5032910467"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":0.616,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.72195582,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"564","last_page":"569"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9997000098228455,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9987000226974487,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9853000044822693,"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/robot","display_name":"Robot","score":0.753097414970398},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.726222574710846},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.7134407758712769},{"id":"https://openalex.org/keywords/drill","display_name":"Drill","score":0.6055794358253479},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5702913403511047},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5405759811401367},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5097429156303406},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46850162744522095},{"id":"https://openalex.org/keywords/articulated-robot","display_name":"Articulated robot","score":0.46701958775520325},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.46307194232940674},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4616478979587555},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4558379650115967},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4529028832912445},{"id":"https://openalex.org/keywords/arm-solution","display_name":"Arm solution","score":0.44619306921958923},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4137651324272156},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3637040853500366},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34424859285354614},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.31566816568374634},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1519940197467804},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10829928517341614},{"id":"https://openalex.org/keywords/network-packet","display_name":"Network packet","score":0.07280802726745605}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.753097414970398},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.726222574710846},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7134407758712769},{"id":"https://openalex.org/C173736775","wikidata":"https://www.wikidata.org/wiki/Q58964","display_name":"Drill","level":2,"score":0.6055794358253479},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5702913403511047},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5405759811401367},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5097429156303406},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46850162744522095},{"id":"https://openalex.org/C138417311","wikidata":"https://www.wikidata.org/wiki/Q3180664","display_name":"Articulated robot","level":5,"score":0.46701958775520325},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.46307194232940674},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4616478979587555},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4558379650115967},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4529028832912445},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.44619306921958923},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4137651324272156},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3637040853500366},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34424859285354614},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31566816568374634},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1519940197467804},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10829928517341614},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.07280802726745605},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2015.7358831","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2015.7358831","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1534252703","https://openalex.org/W1585188717","https://openalex.org/W1820821744","https://openalex.org/W1898154573","https://openalex.org/W2032211017","https://openalex.org/W2040960058","https://openalex.org/W2054552525","https://openalex.org/W2112764944","https://openalex.org/W2114689627","https://openalex.org/W2133150890","https://openalex.org/W2139699368","https://openalex.org/W6658626461","https://openalex.org/W6660499677"],"related_works":["https://openalex.org/W2139206564","https://openalex.org/W2160983430","https://openalex.org/W3155165561","https://openalex.org/W2124086581","https://openalex.org/W3179890939","https://openalex.org/W2139772866","https://openalex.org/W4376456253","https://openalex.org/W2026970149","https://openalex.org/W2322649904","https://openalex.org/W4242231179"],"abstract_inverted_index":{"This":[0,57],"paper":[1],"explains":[2],"the":[3,15,31,35,39,44,48,51,60,75,86,92,96,99,110,117,123,156],"strategy":[4,154],"of":[5,26,54,122],"cutting":[6],"a":[7,11,19,82,128,167,170],"circular":[8,129],"hole":[9,130,168],"in":[10,169],"wall":[12,40],"and":[13,37,69,126],"removing":[14],"cut":[16,42,127,166],"piece":[17],"with":[18],"humanoid":[20,149],"robot.":[21],"The":[22],"two":[23,77],"difficult":[24],"aspects":[25],"this":[27],"task":[28],"are":[29],"how":[30,38],"robot":[32,49,61,87,97,139],"turns":[33],"on":[34,85,91,120,137],"drill":[36,93],"is":[41,58,113],"following":[43,76],"desired":[45],"trajectory":[46],"while":[47],"avoids":[50],"torque":[52,118],"limit":[53],"its":[55],"joints.":[56],"because":[59],"we":[62,73,80],"used,":[63],"THORMANG,":[64],"especially":[65],"has":[66],"low":[67],"payload":[68],"large":[70],"gripper.":[71],"Therefore,":[72],"proposed":[74],"approaches.":[78],"First,":[79],"devised":[81],"special":[83],"device":[84],"gripper":[88],"to":[89,115,147,165],"turn":[90],"immediately":[94],"when":[95],"grasps":[98],"drill.":[100],"Secondly,":[101],"only":[102],"one":[103],"high-powered":[104],"shoulder":[105],"joint,":[106],"rather":[107],"than":[108],"all":[109],"arm":[111,124],"joints,":[112],"used":[114],"avoid":[116],"limits":[119],"some":[121],"joints":[125],"efficiently.":[131],"These":[132],"approaches":[133],"were":[134],"very":[135],"effective":[136],"our":[138,153],"THORMANG":[140],"but":[141],"they":[142],"can":[143],"also":[144],"be":[145],"applied":[146],"other":[148],"robots.":[150],"We":[151],"demonstrated":[152],"at":[155],"2015":[157],"DARPA":[158],"Robotics":[159],"Challenge":[160],"(DRC)":[161],"Finals":[162],"by":[163],"succeeding":[164],"wall.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
