{"id":"https://openalex.org/W4225999892","doi":"https://doi.org/10.1142/s0219843622500074","title":"Dual Arm Coordination with Coordination Diagram Based on Teleoperation Demonstration","display_name":"Dual Arm Coordination with Coordination Diagram Based on Teleoperation Demonstration","publication_year":2022,"publication_date":"2022-04-25","ids":{"openalex":"https://openalex.org/W4225999892","doi":"https://doi.org/10.1142/s0219843622500074"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843622500074","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843622500074","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/A5017790030","display_name":"Guoyu Zuo","orcid":"https://orcid.org/0000-0002-7624-4728"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoyu Zuo","raw_affiliation_strings":["Faculty of Information Technology, Beijing University of Technology, 100 Pingleyuan, Chaoyang District, Beijing 100124, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Information Technology, Beijing University of Technology, 100 Pingleyuan, Chaoyang District, Beijing 100124, P. R. China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010199172","display_name":"Zichen Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zichen Xu","raw_affiliation_strings":["Faculty of Information Technology, Beijing University of Technology, 100 Pingleyuan, Chaoyang District, Beijing 100124, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Information Technology, Beijing University of Technology, 100 Pingleyuan, Chaoyang District, Beijing 100124, P. R. China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072001884","display_name":"Gao Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Gao Huang","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, No. 5, South Street, Zhongguancun, Haidian District, Beijing 100081, P. R. China","Faculty of Information Technology, Beijing University of Technology, 100 Pingleyuan, Chaoyang District, Beijing 100124, P. R. China"],"raw_orcid":"https://orcid.org/0000-0002-0003-0184","affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, No. 5, South Street, Zhongguancun, Haidian District, Beijing 100081, P. R. China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Faculty of Information Technology, Beijing University of Technology, 100 Pingleyuan, Chaoyang District, Beijing 100124, P. R. China","institution_ids":["https://openalex.org/I37796252"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5072001884"],"corresponding_institution_ids":["https://openalex.org/I125839683","https://openalex.org/I37796252"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0344147,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"19","issue":"04","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9990000128746033,"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"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9986000061035156,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8007534742355347},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.7606499195098877},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.629813551902771},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5244795680046082},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45353081822395325},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.43544477224349976},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4182332158088684},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.273928165435791},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07166984677314758}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8007534742355347},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7606499195098877},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.629813551902771},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5244795680046082},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45353081822395325},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.43544477224349976},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4182332158088684},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.273928165435791},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07166984677314758},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843622500074","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843622500074","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.47999998927116394}],"awards":[{"id":"https://openalex.org/G3944791195","display_name":null,"funder_award_id":"62103053","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6025883443","display_name":"\u57fa\u4e8e\u9065\u64cd\u4f5c\u793a\u6559\u7684\u4eba\u5f62\u673a\u5668\u4eba\u7c7b\u4eba\u52a8\u4f5c\u751f\u6210\u5bf9\u6297\u5f0f\u6a21\u4eff\u5b66\u4e60\u7814\u7a76","funder_award_id":"61873008","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2004815408","https://openalex.org/W2045403423","https://openalex.org/W2102548030","https://openalex.org/W2137952598","https://openalex.org/W2611300211","https://openalex.org/W2642822413","https://openalex.org/W2792984727","https://openalex.org/W2799689194","https://openalex.org/W2808784381","https://openalex.org/W2953071651","https://openalex.org/W2982341362","https://openalex.org/W2993583844","https://openalex.org/W2996570575","https://openalex.org/W3039778135","https://openalex.org/W4300449797"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W4281943815","https://openalex.org/W2364738582","https://openalex.org/W2296377172","https://openalex.org/W2160932924","https://openalex.org/W2082997813","https://openalex.org/W2946737911","https://openalex.org/W2903025760"],"abstract_inverted_index":{"Efficient":[0],"and":[1,35,94,120,126,136,155,172],"collision-free":[2,97],"coordination":[3,22,29,77,98],"of":[4,28,38,69,91,117,128],"two":[5,45,74],"robot":[6,153,157],"arms":[7,46],"is":[8,53,82,106],"increasingly":[9],"needed":[10],"in":[11,79,145],"various":[12],"service-oriented":[13],"robotic":[14],"applications.":[15],"This":[16],"paper":[17],"proposes":[18],"a":[19],"dual":[20],"arm":[21],"algorithm":[23],"to":[24,43,47,56,65,85,108,114,160],"improve":[25],"the":[26,39,58,67,70,73,89,96,110,115,121,134,141,150,161,164,173],"efficiency":[27,127],"by":[30,170,179],"considering":[31],"both":[32],"robot\u2019s":[33,59],"actions":[34],"operating":[36,111],"sequences":[37,112],"tasks":[40],"that":[41],"need":[42],"use":[44],"complete":[48],"complex":[49],"operations.":[50],"Teleoperation":[51],"demonstration":[52],"first":[54],"performed":[55],"obtain":[57],"human-like":[60],"motion":[61],"trajectories,":[62],"so":[63],"as":[64],"reduce":[66],"probability":[68],"collisions":[71,93],"between":[72],"arms.":[75],"The":[76,124],"diagram":[78],"time":[80,166],"domain":[81],"then":[83],"designed":[84,107],"more":[86],"clearly":[87],"represent":[88],"situations":[90],"trajectory":[92],"find":[95],"action":[99,122],"law.":[100],"A":[101],"Coordination":[102],"Pair":[103],"Generator":[104],"(CPG)":[105],"reorganize":[109],"according":[113],"characteristics":[116],"input":[118],"trajectories":[119],"coordination.":[123],"effectiveness":[125],"our":[129],"method":[130],"are":[131],"verified":[132],"on":[133,149],"simulation":[135],"physical":[137],"experiments":[138],"which":[139],"execute":[140],"drug":[142],"sorting":[143],"task":[144],"nursing":[146],"homes,":[147],"respectively,":[148],"ABB":[151],"YuMi":[152],"model":[154],"self-developed":[156],"system.":[158],"According":[159],"experiment":[162],"results,":[163],"operation":[165],"has":[167,176],"been":[168,177],"reduced":[169,178],"9%":[171],"collision":[174],"area":[175],"7.5%.":[180]},"counts_by_year":[],"updated_date":"2026-06-06T09:05:17.133730","created_date":"2025-10-10T00:00:00"}