{"id":"https://openalex.org/W4318966674","doi":"https://doi.org/10.1145/3526071.3527520","title":"Software architecture for deformable linear object manipulation","display_name":"Software architecture for deformable linear object manipulation","publication_year":2022,"publication_date":"2022-05-09","ids":{"openalex":"https://openalex.org/W4318966674","doi":"https://doi.org/10.1145/3526071.3527520"},"language":"en","primary_location":{"id":"doi:10.1145/3526071.3527520","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3526071.3527520","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3526071.3527520","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 4th International Workshop on Robotics Software Engineering","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3526071.3527520","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045081157","display_name":"Manuel Z\u00fcrn","orcid":"https://orcid.org/0000-0002-0409-5540"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Manuel Z\u00fcrn","raw_affiliation_strings":["Institute for Control Engineering of Machine Tools and Manufacturing Units, Stuttgart, Baden-W\u00fcrttemberg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Control Engineering of Machine Tools and Manufacturing Units, Stuttgart, Baden-W\u00fcrttemberg, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051659678","display_name":"Markus Wnuk","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Markus Wnuk","raw_affiliation_strings":["Institute for Control Engineering of Machine Tools and Manufacturing Units, Stuttgart, Baden-W\u00fcrttemberg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Control Engineering of Machine Tools and Manufacturing Units, Stuttgart, Baden-W\u00fcrttemberg, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019055244","display_name":"Armin Lechler","orcid":"https://orcid.org/0000-0002-4073-1487"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Armin Lechler","raw_affiliation_strings":["Institute for Control Engineering of Machine Tools and Manufacturing Units, Stuttgart, Baden-W\u00fcrttemberg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Control Engineering of Machine Tools and Manufacturing Units, Stuttgart, Baden-W\u00fcrttemberg, Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048205111","display_name":"Alexander Verl","orcid":"https://orcid.org/0000-0002-2548-6620"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alexander Verl","raw_affiliation_strings":["Institute for Control Engineering of Machine Tools and Manufacturing Units, Stuttgart, Baden-W\u00fcrttemberg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Control Engineering of Machine Tools and Manufacturing Units, Stuttgart, Baden-W\u00fcrttemberg, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.18854045,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"9","last_page":"16"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9983000159263611,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9968000054359436,"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/computer-science","display_name":"Computer science","score":0.6712251901626587},{"id":"https://openalex.org/keywords/software-architecture","display_name":"Software architecture","score":0.5635585784912109},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5243054628372192},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.47807884216308594},{"id":"https://openalex.org/keywords/component-based-software-engineering","display_name":"Component-based software engineering","score":0.4600607454776764},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4540863037109375},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3397093415260315},{"id":"https://openalex.org/keywords/software-development","display_name":"Software development","score":0.29410189390182495},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.07752558588981628}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6712251901626587},{"id":"https://openalex.org/C35869016","wikidata":"https://www.wikidata.org/wiki/Q846636","display_name":"Software architecture","level":3,"score":0.5635585784912109},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5243054628372192},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.47807884216308594},{"id":"https://openalex.org/C174683762","wikidata":"https://www.wikidata.org/wiki/Q609588","display_name":"Component-based software engineering","level":4,"score":0.4600607454776764},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4540863037109375},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3397093415260315},{"id":"https://openalex.org/C529173508","wikidata":"https://www.wikidata.org/wiki/Q638608","display_name":"Software development","level":3,"score":0.29410189390182495},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.07752558588981628}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3526071.3527520","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3526071.3527520","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3526071.3527520","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 4th International Workshop on Robotics Software Engineering","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3526071.3527520","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3526071.3527520","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3526071.3527520","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 4th International Workshop on Robotics Software Engineering","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1372596495","display_name":null,"funder_award_id":"GRK 2198/1 EXC 2075 - 390740016","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2114440766","https://openalex.org/W2134236847","https://openalex.org/W2163512324","https://openalex.org/W2170849258","https://openalex.org/W2171994855","https://openalex.org/W2529945438","https://openalex.org/W2768409770","https://openalex.org/W2859599500","https://openalex.org/W2938604599","https://openalex.org/W2981316255","https://openalex.org/W2991013770","https://openalex.org/W3039664495","https://openalex.org/W3106704848","https://openalex.org/W3129246841","https://openalex.org/W3129982055","https://openalex.org/W3170278846","https://openalex.org/W3215104345"],"related_works":["https://openalex.org/W2737719445","https://openalex.org/W2898210368","https://openalex.org/W2382480268","https://openalex.org/W2755342338","https://openalex.org/W2775347418","https://openalex.org/W1976518449","https://openalex.org/W2732837990","https://openalex.org/W4206198161","https://openalex.org/W2363366881","https://openalex.org/W2779427294"],"abstract_inverted_index":{"Deformable":[0],"linear":[1,78,88,146,177],"object":[2,54,79,89,147,178],"manipulation":[3,31,55,165],"is":[4,122,155,187,200],"challenging":[5],"due":[6],"to":[7,24,128,143,179],"their":[8,14],"high":[9],"dimensional":[10],"configuration":[11],"space":[12],"and":[13,35,98,118,170,205],"underactuated":[15],"nature":[16],"when":[17],"manipulated":[18],"by":[19,189],"a":[20,66,72,106,112,115,119,130,133,158,171,175,180,208],"robotic":[21,30,141],"gripper.":[22],"Due":[23],"the":[25,28,138,152,198],"complexity":[26],"of":[27,103,111,140,151,161],"task,":[29,166],"relies":[32],"on":[33,58,65],"sensors":[34],"computationally":[36],"demanding":[37],"models,":[38],"which":[39,195],"end":[40],"up":[41],"in":[42,52,157,197],"multiple":[43],"different":[44],"software":[45,67,74,82,108,135,153],"components":[46,85],"interacting":[47],"with":[48],"each":[49],"other.":[50],"Research":[51],"deformable":[53,77,87,145,176],"usually":[56],"focuses":[57],"modeling,":[59],"planning":[60],"or":[61],"control,":[62],"without":[63],"focusing":[64],"architecture.":[68],"This":[69,184],"paper":[70],"presents":[71],"novel":[73],"architecture":[75,83,109,136,154],"for":[76,86,132,211],"manipulation.":[80,148],"The":[81,124,149],"includes":[84],"manipulation,":[90],"namely":[91],"perception-,":[92],"observation-,":[93],"robot":[94,169],"control-,":[95],"planning-,":[96],"communication-":[97],"decision":[99,113],"component.":[100],"On":[101],"top":[102],"these":[104],"components,":[105],"layered":[107],"consisting":[110],"layer,":[114],"skill":[116],"layer":[117,121],"functional":[120],"presented":[123],"proposed":[125],"concept":[126],"aims":[127],"be":[129],"blueprint":[131],"unified":[134],"satisfying":[137],"requirements":[139],"systems":[142],"achieve":[144],"validation":[150],"done":[156],"case":[159,186],"study":[160],"an":[162,190],"autonomous":[163],"shape":[164,174],"where":[167],"one":[168],"stereo":[172],"camera":[173],"predefined":[181],"desired":[182],"shape.":[183],"use":[185],"inspired":[188],"automated":[191],"cable":[192],"routing":[193],"process,":[194],"today":[196],"industry":[199],"still":[201],"mainly":[202],"handled":[203],"manually":[204],"therefore":[206],"offers":[207],"vast":[209],"potential":[210],"automation.":[212]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
