{"id":"https://openalex.org/W2008090618","doi":"https://doi.org/10.1177/027836499301200107","title":"Object Handling Using Two Arms Without Grasping","display_name":"Object Handling Using Two Arms Without Grasping","publication_year":1993,"publication_date":"1993-02-01","ids":{"openalex":"https://openalex.org/W2008090618","doi":"https://doi.org/10.1177/027836499301200107","mag":"2008090618"},"language":"en","primary_location":{"id":"doi:10.1177/027836499301200107","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499301200107","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5110579954","display_name":"Xiaoping Yun","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Xiaoping Yun","raw_affiliation_strings":["Department of Computer and Information Science University of Pennsylvania Philadelphia, Pennsylvania 19104","Department of Computer and Information Science, University of Pennsylvania, Philadelphia, Pennsylvania, 19104#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science University of Pennsylvania Philadelphia, Pennsylvania 19104","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Department of Computer and Information Science, University of Pennsylvania, Philadelphia, Pennsylvania, 19104#TAB#","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5110579954"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":6.1857,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.96107927,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"12","issue":"1","first_page":"99","last_page":"106"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9861000180244446,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9858999848365784,"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/control-theory","display_name":"Control theory (sociology)","score":0.7260750532150269},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6866081357002258},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6730452179908752},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6123714447021484},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5792534947395325},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5718441009521484},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5481715798377991},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5218928456306458},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.42857855558395386},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42536115646362305},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3658437728881836},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3355485796928406},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3037346303462982},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.10108107328414917},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06893819570541382}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7260750532150269},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6866081357002258},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6730452179908752},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6123714447021484},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5792534947395325},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5718441009521484},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5481715798377991},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5218928456306458},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.42857855558395386},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42536115646362305},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3658437728881836},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3355485796928406},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3037346303462982},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.10108107328414917},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06893819570541382},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/027836499301200107","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499301200107","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.848.7893","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.848.7893","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ijr.sagepub.com/content/12/1/99.full.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.44999998807907104}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320309370","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1499219562","https://openalex.org/W1556970733","https://openalex.org/W1913694502","https://openalex.org/W2050708324","https://openalex.org/W2062071510","https://openalex.org/W2095303940","https://openalex.org/W2128671915","https://openalex.org/W2149518514","https://openalex.org/W2164393460","https://openalex.org/W2164898903","https://openalex.org/W2165521556"],"related_works":["https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4323768008","https://openalex.org/W4248382324","https://openalex.org/W4360995134","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W3023605104","https://openalex.org/W2903025760","https://openalex.org/W2101105382"],"abstract_inverted_index":{"Two":[0],"cooperative":[1],"manipulators":[2,93],"equipped":[3],"with":[4],"open-palm":[5],"end":[6,26],"effectors":[7],"are":[8,136],"particularly":[9],"suited":[10],"to":[11,71,121],"handle":[12],"large":[13],"objects.":[14,76],"This":[15,34],"can":[16,94],"be":[17],"achieved":[18],"by":[19,85,143,160],"having":[20],"one":[21,25],"palm":[22],"push":[23,96],"from":[24,30,128],"and":[27,38,60,79],"the":[28,31,54,58,61,66,86,92,97,106,124,129,139,155],"other":[29],"opposite":[32],"end.":[33],"article":[35],"studies":[36],"modeling":[37],"coordinated":[39,110],"control":[40,52,81,100,111,126,131,148,156],"of":[41,47,53,57,65,88,154],"two-arm":[42],"pushing":[43],"operations.":[44],"The":[45,77,99,133,152],"performance":[46],"such":[48],"tasks":[49],"requires":[50],"simultaneous":[51],"motion":[55,78,125,141],"trajectory":[56],"object":[59],"interaction":[62,67],"force.":[63],"Control":[64],"force":[68,80,130,147],"is":[69,83,102,113,158],"essential":[70],"avoid":[72],"dropping":[73],"or":[74],"crushing":[75],"problem":[82,101],"complicated":[84],"presence":[87],"unilateral":[89,134],"constraints,":[90],"as":[91],"only":[95],"object.":[98],"first":[103],"formulated":[104],"in":[105],"state":[107,119],"space.":[108],"A":[109],"method":[112,157],"then":[114],"presented":[115],"that":[116],"utilizes":[117],"a":[118,145],"feedback":[120],"de":[122],"couple":[123],"subsystem":[127],"subsystem.":[132],"constraints":[135],"satisfied":[137],"during":[138],"entire":[140],"period":[142],"using":[144],"proposed":[146],"plan":[149],"ning":[150],"algorithm.":[151],"effectiveness":[153],"verified":[159],"simulations.":[161]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}