{"id":"https://openalex.org/W4309006210","doi":"https://doi.org/10.3390/robotics11060123","title":"Graph-Based Framework on Bimanual Manipulation Planning from Cooking Recipe","display_name":"Graph-Based Framework on Bimanual Manipulation Planning from Cooking Recipe","publication_year":2022,"publication_date":"2022-11-11","ids":{"openalex":"https://openalex.org/W4309006210","doi":"https://doi.org/10.3390/robotics11060123"},"language":"en","primary_location":{"id":"doi:10.3390/robotics11060123","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11060123","pdf_url":"https://www.mdpi.com/2218-6581/11/6/123/pdf?version=1668588588","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/11/6/123/pdf?version=1668588588","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084020337","display_name":"Kota Takata","orcid":null},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kota Takata","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Osaka 565-0871, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Osaka 565-0871, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049153408","display_name":"Takuya Kiyokawa","orcid":"https://orcid.org/0000-0002-8555-8489"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takuya Kiyokawa","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Osaka 565-0871, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Osaka 565-0871, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066637748","display_name":"Natsuki Yamanobe","orcid":"https://orcid.org/0000-0001-8885-3064"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Natsuki Yamanobe","raw_affiliation_strings":["ICPS Research Center, National Institute Advanced Industrial Science and Technology, Tsukuba 305-8560, Japan"],"raw_orcid":"https://orcid.org/0000-0001-8885-3064","affiliations":[{"raw_affiliation_string":"ICPS Research Center, National Institute Advanced Industrial Science and Technology, Tsukuba 305-8560, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064317353","display_name":"Ixchel G. Ram\u00edrez-Alpizar","orcid":"https://orcid.org/0000-0002-7805-7539"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ixchel G. Ramirez-Alpizar","raw_affiliation_strings":["ICPS Research Center, National Institute Advanced Industrial Science and Technology, Tsukuba 305-8560, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7805-7539","affiliations":[{"raw_affiliation_string":"ICPS Research Center, National Institute Advanced Industrial Science and Technology, Tsukuba 305-8560, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087787651","display_name":"Weiwei Wan","orcid":"https://orcid.org/0000-0002-0058-2819"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Weiwei Wan","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Osaka 565-0871, Japan"],"raw_orcid":"https://orcid.org/0000-0002-0058-2819","affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Osaka 565-0871, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016270703","display_name":"Kensuke Harada","orcid":"https://orcid.org/0000-0002-7576-756X"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kensuke Harada","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Osaka 565-0871, Japan","ICPS Research Center, National Institute Advanced Industrial Science and Technology, Tsukuba 305-8560, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7576-756X","affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Osaka 565-0871, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"ICPS Research Center, National Institute Advanced Industrial Science and Technology, Tsukuba 305-8560, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5016270703"],"corresponding_institution_ids":["https://openalex.org/I73613424","https://openalex.org/I98285908"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.2041,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.49373379,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"11","issue":"6","first_page":"123","last_page":"123"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983000159263611,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983000159263611,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9983000159263611,"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":0.9955999851226807,"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/recipe","display_name":"Recipe","score":0.9642367959022522},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.6309900283813477},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5995471477508545},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5829358100891113},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.440807044506073},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4220728278160095},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.21977171301841736}],"concepts":[{"id":"https://openalex.org/C2778671685","wikidata":"https://www.wikidata.org/wiki/Q219239","display_name":"Recipe","level":2,"score":0.9642367959022522},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.6309900283813477},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5995471477508545},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5829358100891113},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.440807044506073},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4220728278160095},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.21977171301841736},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C31903555","wikidata":"https://www.wikidata.org/wiki/Q1637030","display_name":"Food science","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics11060123","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11060123","pdf_url":"https://www.mdpi.com/2218-6581/11/6/123/pdf?version=1668588588","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:ff4d603e8c674ffbb15722dbb0b3072d","is_oa":true,"landing_page_url":"https://doaj.org/article/ff4d603e8c674ffbb15722dbb0b3072d","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 11, Iss 6, p 123 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/11/6/123/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics11060123","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics; Volume 11; Issue 6; Pages: 123","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics11060123","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11060123","pdf_url":"https://www.mdpi.com/2218-6581/11/6/123/pdf?version=1668588588","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4309006210.pdf","grobid_xml":"https://content.openalex.org/works/W4309006210.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W1994305306","https://openalex.org/W2044995998","https://openalex.org/W2070683816","https://openalex.org/W2097521303","https://openalex.org/W2099893201","https://openalex.org/W2142224528","https://openalex.org/W2143936212","https://openalex.org/W2156047221","https://openalex.org/W2217861848","https://openalex.org/W2225490378","https://openalex.org/W2483804965","https://openalex.org/W2561337467","https://openalex.org/W2568736373","https://openalex.org/W2617344561","https://openalex.org/W2620583571","https://openalex.org/W2735300570","https://openalex.org/W2749769166","https://openalex.org/W2770002054","https://openalex.org/W2773987432","https://openalex.org/W2909723455","https://openalex.org/W2949555499","https://openalex.org/W2962962780","https://openalex.org/W2967092886","https://openalex.org/W2989165771","https://openalex.org/W3003379106","https://openalex.org/W3012395328","https://openalex.org/W3021132920","https://openalex.org/W3091195047","https://openalex.org/W3100255941","https://openalex.org/W3101797544","https://openalex.org/W3102408685","https://openalex.org/W3103940950","https://openalex.org/W3206380267","https://openalex.org/W4306750261"],"related_works":["https://openalex.org/W258429745","https://openalex.org/W3161239248","https://openalex.org/W2561508161","https://openalex.org/W3195543079","https://openalex.org/W2098178683","https://openalex.org/W3207562294","https://openalex.org/W2604742737","https://openalex.org/W3021194804","https://openalex.org/W4386893202","https://openalex.org/W4388686419"],"abstract_inverted_index":{"It":[0],"is":[1,136],"difficult":[2],"to":[3,53,74,105,138],"effectively":[4],"operate":[5],"a":[6,15,26,35,80,90,113,117,143],"dual-arm":[7,118],"robot":[8,140],"using":[9,126],"only":[10],"the":[11,44,55,61,64,94,98,102,107,148,154],"information":[12],"written":[13],"in":[14],"cooking":[16,31,36,45,108,144,149],"recipe.":[17,37],"To":[18],"cope":[19],"with":[20],"this":[21,23],"problem,":[22],"paper":[24],"proposes":[25],"graph-based":[27],"approach":[28],"on":[29],"bimanual":[30],"motion":[32,91],"planning":[33],"from":[34,89,142],"In":[38],"our":[39],"approach,":[40],"we":[41,51,77,110,132],"first":[42],"decompose":[43],"recipe":[46,145],"into":[47,59],"graph":[48,56,69,81,96],"elements.":[49],"Then,":[50],"try":[52],"connect":[54],"elements":[57,70],"taking":[58],"account":[60],"attributes":[62],"of":[63,101,116],"input/output":[65],"nodes.":[66],"If":[67],"two":[68,122,127],"cannot":[71],"be":[72,85],"connected":[73],"each":[75],"other,":[76],"search":[78],"for":[79],"element":[82],"that":[83,134],"can":[84,111],"inserted":[86],"between":[87],"them":[88],"database.":[92],"Since":[93],"constructed":[95],"includes":[97],"whole":[99],"sequence":[100,115],"robot\u2019s":[103],"motions":[104,141,150],"perform":[106,147],"task,":[109],"generate":[112,139],"task":[114],"manipulator":[119],"simultaneously":[120,152],"performing":[121],"different":[123],"tasks":[124],"by":[125],"arms.":[128,158],"Through":[129],"experimental":[130],"study,":[131],"show":[133],"it":[135],"possible":[137],"and":[146,156],"while":[151],"moving":[153],"left":[155],"right":[157]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
