{"id":"https://openalex.org/W2947984804","doi":"https://doi.org/10.1126/scirobotics.aaw0955","title":"Shared control\u2013based bimanual robot manipulation","display_name":"Shared control\u2013based bimanual robot manipulation","publication_year":2019,"publication_date":"2019-05-22","ids":{"openalex":"https://openalex.org/W2947984804","doi":"https://doi.org/10.1126/scirobotics.aaw0955","mag":"2947984804","pmid":"https://pubmed.ncbi.nlm.nih.gov/33137728"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.aaw0955","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aaw0955","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5006252401","display_name":"Daniel Rakita","orcid":"https://orcid.org/0000-0001-6292-8515"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Daniel Rakita","raw_affiliation_strings":["Department of Computer Sciences, University of Wisconsin\u2013Madison, Madison, WI, USA"],"raw_orcid":"https://orcid.org/0000-0001-6292-8515","affiliations":[{"raw_affiliation_string":"Department of Computer Sciences, University of Wisconsin\u2013Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017344436","display_name":"Bilge Mutlu","orcid":"https://orcid.org/0000-0002-9456-1495"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bilge Mutlu","raw_affiliation_strings":["Department of Computer Sciences, University of Wisconsin\u2013Madison, Madison, WI, USA"],"raw_orcid":"https://orcid.org/0000-0002-9456-1495","affiliations":[{"raw_affiliation_string":"Department of Computer Sciences, University of Wisconsin\u2013Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084778474","display_name":"Michael Gleicher","orcid":"https://orcid.org/0000-0003-3295-4071"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Gleicher","raw_affiliation_strings":["Department of Computer Sciences, University of Wisconsin\u2013Madison, Madison, WI, USA"],"raw_orcid":"https://orcid.org/0000-0003-3295-4071","affiliations":[{"raw_affiliation_string":"Department of Computer Sciences, University of Wisconsin\u2013Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020141134","display_name":"Laura M. Hiatt","orcid":"https://orcid.org/0000-0001-5254-2846"},"institutions":[{"id":"https://openalex.org/I1288214837","display_name":"United States Naval Research Laboratory","ror":"https://ror.org/04d23a975","country_code":"US","type":"facility","lineage":["https://openalex.org/I1288214837","https://openalex.org/I1330347796","https://openalex.org/I175003984","https://openalex.org/I3130687028"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Laura M. Hiatt","raw_affiliation_strings":["Naval Research Laboratory, Washington, DC, USA"],"raw_orcid":"https://orcid.org/0000-0001-5254-2846","affiliations":[{"raw_affiliation_string":"Naval Research Laboratory, Washington, DC, USA","institution_ids":["https://openalex.org/I1288214837"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5006252401"],"corresponding_institution_ids":["https://openalex.org/I135310074"],"apc_list":null,"apc_paid":null,"fwci":5.4864,"has_fulltext":false,"cited_by_count":105,"citation_normalized_percentile":{"value":0.96498813,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"4","issue":"30","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9994999766349792,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9994999766349792,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9988999962806702,"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/T12290","display_name":"Human Motion and Animation","score":0.9962000250816345,"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/control","display_name":"Control (management)","score":0.6662274599075317},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.615066647529602},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6102727055549622},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5265237092971802},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4505510926246643},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33809250593185425},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28840330243110657},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2177954614162445},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1846909523010254}],"concepts":[{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.6662274599075317},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.615066647529602},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6102727055549622},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5265237092971802},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4505510926246643},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33809250593185425},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28840330243110657},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2177954614162445},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1846909523010254}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1126/scirobotics.aaw0955","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aaw0955","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},{"id":"pmid:33137728","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33137728","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science robotics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332179","display_name":"Office of the Director","ror":"https://ror.org/04nseet23"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W157644030","https://openalex.org/W1424654272","https://openalex.org/W1540655697","https://openalex.org/W1664223924","https://openalex.org/W1844619323","https://openalex.org/W1972941263","https://openalex.org/W1974440902","https://openalex.org/W1977822137","https://openalex.org/W1986593977","https://openalex.org/W1992137320","https://openalex.org/W2039787549","https://openalex.org/W2064675550","https://openalex.org/W2084221603","https://openalex.org/W2084575083","https://openalex.org/W2087441489","https://openalex.org/W2092349579","https://openalex.org/W2099889068","https://openalex.org/W2104200789","https://openalex.org/W2106296284","https://openalex.org/W2114524417","https://openalex.org/W2117475396","https://openalex.org/W2119293519","https://openalex.org/W2124209587","https://openalex.org/W2126877763","https://openalex.org/W2130351752","https://openalex.org/W2134615047","https://openalex.org/W2137267908","https://openalex.org/W2143470124","https://openalex.org/W2147168033","https://openalex.org/W2150138180","https://openalex.org/W2160303287","https://openalex.org/W2164474021","https://openalex.org/W2167783228","https://openalex.org/W2168228040","https://openalex.org/W2173087529","https://openalex.org/W2510185399","https://openalex.org/W2546210067","https://openalex.org/W2564737363","https://openalex.org/W2592007507","https://openalex.org/W2727786442","https://openalex.org/W2782655722","https://openalex.org/W2792984727","https://openalex.org/W2794056821","https://openalex.org/W2794187625","https://openalex.org/W2810307462","https://openalex.org/W2885529804","https://openalex.org/W4231252234","https://openalex.org/W4232027764","https://openalex.org/W4236895009","https://openalex.org/W4240721812","https://openalex.org/W4285719527","https://openalex.org/W4298082496"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2171912896","https://openalex.org/W2542723153","https://openalex.org/W2021541810","https://openalex.org/W2133150803","https://openalex.org/W2567004573","https://openalex.org/W2523383972"],"abstract_inverted_index":{"Human-centered":[0],"environments":[1,24],"provide":[2],"affordances":[3],"for":[4,117,218],"and":[5,19,44,147],"require":[6],"the":[7,41,76,81,91,113,134,157,163,176,213],"use":[8],"of":[9,165,178,198,215],"two-handed,":[10],"or":[11,171],"bimanual,":[12],"manipulations.":[13],"Robots":[14],"designed":[15,160],"to":[16,29,50,60,79,89,121,161,194,208],"function":[17],"in,":[18],"physically":[20],"interact":[21],"with,":[22],"these":[23,31],"have":[25,38],"not":[26,39],"been":[27],"able":[28],"meet":[30],"requirements":[32],"because":[33],"standard":[34],"bimanual":[35,52,64,69,101,124,135,168],"control":[36,73,191,221],"approaches":[37],"accommodated":[40],"diverse,":[42],"dynamic,":[43],"intricate":[45],"coordinations":[46],"between":[47],"two":[48,182],"arms":[49,78],"complete":[51,93,195],"tasks.":[53],"In":[54],"this":[55],"work,":[56],"we":[57],"enabled":[58],"robots":[59],"more":[61,95,172,202],"effectively":[62],"perform":[63,109],"tasks":[65,94,201],"by":[66,105],"introducing":[67],"a":[68,100,141,150,166,192,196],"shared-control":[70,158],"method.":[71],"The":[72,127],"method":[74,98,128,180,206],"moves":[75],"robot's":[77],"mimic":[80],"operator's":[82],"arm":[83],"movements":[84],"but":[85],"provides":[86],"on-the-fly":[87],"assistance":[88,152],"help":[90],"user":[92,183],"easily.":[96],"Our":[97],"used":[99],"action":[102,132,136,169],"vocabulary,":[103],"constructed":[104],"analyzing":[106],"how":[107,120],"people":[108],"two-hand":[110],"manipulations,":[111],"as":[112],"core":[114],"abstraction":[115],"level":[116],"reasoning":[118],"about":[119],"assist":[122],"in":[123],"shared":[125],"autonomy.":[126],"inferred":[129],"which":[130],"individual":[131],"from":[133],"vocabulary":[137],"was":[138],"occurring":[139],"using":[140,204],"sequence-to-sequence":[142],"recurrent":[143],"neural":[144],"network":[145],"architecture":[146],"turned":[148],"on":[149],"corresponding":[151],"mode,":[153],"signals":[154],"introduced":[155],"into":[156],"loop":[159],"make":[162],"performance":[164],"particular":[167],"easier":[170],"efficient.":[173],"We":[174,211],"demonstrate":[175],"effectiveness":[177],"our":[179,205,216],"through":[181],"studies":[184],"that":[185,187],"show":[186],"novice":[188],"users":[189],"could":[190],"robot":[193,220],"range":[197],"complex":[199],"manipulation":[200],"successfully":[203],"compared":[207],"alternative":[209],"approaches.":[210],"discuss":[212],"implications":[214],"findings":[217],"real-world":[219],"scenarios.":[222]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":21},{"year":2024,"cited_by_count":23},{"year":2023,"cited_by_count":20},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":7}],"updated_date":"2026-06-13T07:54:00.901334","created_date":"2025-10-10T00:00:00"}