{"id":"https://openalex.org/W2312944851","doi":"https://doi.org/10.1142/s0219843615500474","title":"Whole Body Control of a Dual-Arm Mobile Robot Using a Virtual Kinematic Chain","display_name":"Whole Body Control of a Dual-Arm Mobile Robot Using a Virtual Kinematic Chain","publication_year":2016,"publication_date":"2016-03-01","ids":{"openalex":"https://openalex.org/W2312944851","doi":"https://doi.org/10.1142/s0219843615500474","mag":"2312944851"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843615500474","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843615500474","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-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/A5017254188","display_name":"Yuquan Wang","orcid":"https://orcid.org/0000-0002-4032-4830"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Yuquan Wang","raw_affiliation_strings":["Computer Vision and Active Perception Lab, Center for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab, Center for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060213000","display_name":"Christian Smith","orcid":"https://orcid.org/0000-0003-2078-8854"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Christian Smith","raw_affiliation_strings":["Computer Vision and Active Perception Lab, Center for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab, Center for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066684950","display_name":"Yiannis Karayiannidis","orcid":"https://orcid.org/0000-0001-5129-342X"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]},{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Yiannis Karayiannidis","raw_affiliation_strings":["Automatic Control, Automation and Mechatronics, Department of Signal and Systems, Chalmers University of Technology, SE-412 96 Gothenburg, Sweden","Computer Vision and Active Perception Lab, Center for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automatic Control, Automation and Mechatronics, Department of Signal and Systems, Chalmers University of Technology, SE-412 96 Gothenburg, Sweden","institution_ids":["https://openalex.org/I66862912"]},{"raw_affiliation_string":"Computer Vision and Active Perception Lab, Center for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070754732","display_name":"Petter \u00d6gren","orcid":"https://orcid.org/0000-0002-7714-928X"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Petter \u00d6gren","raw_affiliation_strings":["Computer Vision and Active Perception Lab, Center for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab, Center for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8902,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.86176996,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"13","issue":"01","first_page":"1550047","last_page":"1550047"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9954000115394592,"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/workspace","display_name":"Workspace","score":0.8259398937225342},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8122965097427368},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7771637439727783},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.7376508712768555},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.6018607020378113},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6013652086257935},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.539686918258667},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5302842259407043},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.5061530470848083},{"id":"https://openalex.org/keywords/screw-theory","display_name":"Screw theory","score":0.4781302511692047},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4135287404060364},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.38308537006378174},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3629937171936035},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3536282777786255},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2978683114051819},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12346300482749939},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08845788240432739}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8259398937225342},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8122965097427368},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7771637439727783},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.7376508712768555},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.6018607020378113},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6013652086257935},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.539686918258667},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5302842259407043},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.5061530470848083},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.4781302511692047},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4135287404060364},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.38308537006378174},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3629937171936035},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3536282777786255},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2978683114051819},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12346300482749939},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08845788240432739},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1142/s0219843615500474","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843615500474","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"},{"id":"pmh:oai:research.chalmers.se:236759","is_oa":false,"landing_page_url":"https://research.chalmers.se/en/publication/236759","pdf_url":null,"source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7699999809265137}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320940","display_name":"Stiftelsen f\u00f6r\u00a0Strategisk Forskning","ror":"https://ror.org/044wr7g58"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1970494767","https://openalex.org/W2026054764","https://openalex.org/W2049410986","https://openalex.org/W2086587468","https://openalex.org/W2097193816","https://openalex.org/W2144082062","https://openalex.org/W2147168033","https://openalex.org/W2157023717","https://openalex.org/W2161344171","https://openalex.org/W2169360335","https://openalex.org/W4240172577","https://openalex.org/W4240312492","https://openalex.org/W6600020652"],"related_works":["https://openalex.org/W2245353192","https://openalex.org/W4323924603","https://openalex.org/W76816740","https://openalex.org/W4224084493","https://openalex.org/W1916203309","https://openalex.org/W2361428515","https://openalex.org/W2152470674","https://openalex.org/W1965919876","https://openalex.org/W2067603569","https://openalex.org/W2185220635"],"abstract_inverted_index":{"Dual-arm":[0],"manipulators":[1,10,12],"have":[2,18],"more":[3],"advanced":[4],"manipulation":[5],"abilities":[6],"compared":[7],"to":[8,33,62,64,83,101,108,146,171,182],"single-arm":[9],"and":[11,21,143,154,214,232],"mounted":[13],"on":[14,219],"a":[15,22,35,56,103,119,197,220,233],"mobile":[16,28,52,141,236],"base":[17,53,81,142],"additional":[19],"mobility":[20],"larger":[23],"workspace.":[24],"Combining":[25],"these":[26],"advantages,":[27],"dual-arm":[29,96],"robots":[30],"are":[31,217],"expected":[32],"perform":[34],"variety":[36],"of":[37,45,79,87,93,113,125,176,186,228],"tasks":[38],"in":[39,55,157,190],"the":[40,43,51,77,80,85,95,110,114,129,140,144,151,158,162,167,173,177,184,187,209],"future.":[41],"Kinematically,":[42],"configuration":[44],"two":[46,115,126,178,188,225],"arms":[47,89,189,231],"that":[48,149,216],"branches":[49],"from":[50],"results":[54],"serial-to-parallel":[57,68],"kinematic":[58,69,73,105,137],"structure.":[59],"In":[60,128,161,180],"order":[61,181],"respond":[63],"external":[65],"disturbances,":[66],"this":[67],"structure":[70],"makes":[71],"inverse":[72],"computations":[74],"non-trivial,":[75],"as":[76,201,203],"motion":[78,112,170,175],"has":[82,224],"take":[84],"needs":[86],"both":[88],"into":[90],"account.":[91],"Instead":[92],"using":[94],"kinematics":[97],"directly,":[98],"we":[99,132,165,194],"propose":[100],"use":[102,133,166],"virtual":[104],"chain":[106,138],"(VKC)":[107],"specify":[109],"common":[111,174],"arms.":[116,179],"We":[117,207],"formulate":[118,147],"constraint-based":[120],"programming":[121],"solution":[122],"which":[123,223],"consists":[124],"parts.":[127],"first":[130],"part,":[131,164],"an":[134,191],"extended":[135],"serial":[136],"including":[139],"VKC":[145,169],"constraints":[148],"realize":[150],"desired":[152],"orientation":[153],"translation":[155],"expressed":[156],"world":[159],"frame.":[160],"second":[163],"resolved":[168],"constrain":[172],"explore":[183],"redundancy":[185],"optimization":[192],"framework,":[193],"also":[195],"provide":[196],"VKC-oriented":[198],"manipulability":[199],"measure":[200],"well":[202],"its":[204],"closed-form":[205],"gradient.":[206],"verify":[208],"proposed":[210],"approach":[211],"with":[212],"simulations":[213],"experiments":[215],"performed":[218],"PR2":[221],"robot,":[222],"7":[226],"degrees":[227],"freedom":[229],"(DoF)":[230],"3":[234],"DoF":[235],"base.":[237]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
