{"id":"https://openalex.org/W2965672435","doi":"https://doi.org/10.1109/urai.2019.8768782","title":"Mobile Manipulation for the HSR Intelligent Home Service Robot","display_name":"Mobile Manipulation for the HSR Intelligent Home Service Robot","publication_year":2019,"publication_date":"2019-06-01","ids":{"openalex":"https://openalex.org/W2965672435","doi":"https://doi.org/10.1109/urai.2019.8768782","mag":"2965672435"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2019.8768782","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2019.8768782","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 16th 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/A5005116895","display_name":"Jae-Bong Yi","orcid":"https://orcid.org/0000-0003-4526-212X"},"institutions":[{"id":"https://openalex.org/I4921948","display_name":"Pusan National University","ror":"https://ror.org/01an57a31","country_code":"KR","type":"education","lineage":["https://openalex.org/I4921948"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jae-Bong Yi","raw_affiliation_strings":["Department of Electrical Engineering, Pusan National University, Busan, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Pusan National University, Busan, South Korea","institution_ids":["https://openalex.org/I4921948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071076615","display_name":"Seung\u2010Joon Yi","orcid":"https://orcid.org/0000-0002-3700-4967"},"institutions":[{"id":"https://openalex.org/I4921948","display_name":"Pusan National University","ror":"https://ror.org/01an57a31","country_code":"KR","type":"education","lineage":["https://openalex.org/I4921948"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seung-Joon Yi","raw_affiliation_strings":["Department of Electrical Engineering, Pusan National University, Busan, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Pusan National University, Busan, South Korea","institution_ids":["https://openalex.org/I4921948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0967,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.75707471,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"169","last_page":"173"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9991000294685364,"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":0.9986000061035156,"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":0.682521641254425},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5900095701217651},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5662410259246826},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5559485554695129},{"id":"https://openalex.org/keywords/service-robot","display_name":"Service robot","score":0.5497211217880249},{"id":"https://openalex.org/keywords/service","display_name":"Service (business)","score":0.5421607494354248},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5185021162033081},{"id":"https://openalex.org/keywords/summit","display_name":"Summit","score":0.48958975076675415},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.4405823349952698},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4240446388721466},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3521328270435333},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35059595108032227},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3255389928817749},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31382378935813904}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.682521641254425},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5900095701217651},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5662410259246826},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5559485554695129},{"id":"https://openalex.org/C2776228582","wikidata":"https://www.wikidata.org/wiki/Q7455797","display_name":"Service robot","level":3,"score":0.5497211217880249},{"id":"https://openalex.org/C2780378061","wikidata":"https://www.wikidata.org/wiki/Q25351891","display_name":"Service (business)","level":2,"score":0.5421607494354248},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5185021162033081},{"id":"https://openalex.org/C2778848561","wikidata":"https://www.wikidata.org/wiki/Q207326","display_name":"Summit","level":2,"score":0.48958975076675415},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.4405823349952698},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4240446388721466},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3521328270435333},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35059595108032227},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3255389928817749},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31382378935813904},{"id":"https://openalex.org/C136264566","wikidata":"https://www.wikidata.org/wiki/Q159810","display_name":"Economy","level":1,"score":0.0},{"id":"https://openalex.org/C100970517","wikidata":"https://www.wikidata.org/wiki/Q52107","display_name":"Physical geography","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2019.8768782","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2019.8768782","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 16th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.41999998688697815,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W2796353124","https://openalex.org/W2902371734","https://openalex.org/W2903842350","https://openalex.org/W2909095074","https://openalex.org/W2909319056","https://openalex.org/W2909460411","https://openalex.org/W2910448276","https://openalex.org/W2911082410","https://openalex.org/W6756434035"],"related_works":["https://openalex.org/W4241376597","https://openalex.org/W1982074779","https://openalex.org/W3203904831","https://openalex.org/W630050097","https://openalex.org/W4246070377","https://openalex.org/W1996312672","https://openalex.org/W2280577319","https://openalex.org/W2352077919","https://openalex.org/W2104885471","https://openalex.org/W94458559"],"abstract_inverted_index":{"With":[0],"recent":[1],"introduction":[2],"of":[3,26,40,55,88],"affordable":[4],"sensors,":[5],"motors,":[6],"batteries":[7],"and":[8,51,85,92,115],"processors,":[9],"as":[10,12,43],"well":[11],"the":[13,49,58,67,73,82,89,97,111,118],"major":[14],"advancement":[15],"in":[16,30,102],"machine":[17],"learning":[18],"field,":[19],"we":[20,62,65],"now":[21],"see":[22],"a":[23],"wide":[24],"adoption":[25],"commercial":[27],"service":[28,34],"robots":[29,35],"various":[31,103],"fields.":[32],"However,":[33],"without":[36],"manipulation":[37,70,106],"capability":[38],"are":[39],"limited":[41],"use,":[42],"they":[44],"cannot":[45],"physically":[46],"interact":[47],"with":[48,127],"environment":[50],"require":[52],"continual":[53],"support":[54],"humans":[56],"during":[57],"operation.In":[59],"this":[60],"paper,":[61],"describe":[63],"how":[64],"implement":[66],"general":[68],"purpose":[69],"module":[71,107],"for":[72,96],"Toyota":[74],"HSR":[75,90,113],"(Human":[76],"Support":[77],"Robot)":[78],"platform,":[79],"which":[80],"includes":[81],"analytical":[83],"forward":[84],"inverse":[86],"kinematics":[87],"manipulator":[91],"corresponding":[93],"motion":[94],"planner":[95],"arm":[98],"to":[99],"reach":[100],"objects":[101],"locations.":[104],"Suggested":[105],"is":[108],"implemented":[109],"on":[110],"physical":[112],"platform":[114],"used":[116],"at":[117],"World":[119],"Robot":[120],"Summit":[121],"(WRS)":[122],"2018":[123],"international":[124],"robotic":[125],"competition":[126],"promising":[128],"results.":[129]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
