{"id":"https://openalex.org/W4401522474","doi":"https://doi.org/10.3390/robotics13080121","title":"Hybrid Sensor Fusion Mixed with Reinforcement Learning in Autonomous Dual-Arm Lifting Tasks Performed by Humanoid Robots","display_name":"Hybrid Sensor Fusion Mixed with Reinforcement Learning in Autonomous Dual-Arm Lifting Tasks Performed by Humanoid Robots","publication_year":2024,"publication_date":"2024-08-11","ids":{"openalex":"https://openalex.org/W4401522474","doi":"https://doi.org/10.3390/robotics13080121"},"language":"en","primary_location":{"id":"doi:10.3390/robotics13080121","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13080121","pdf_url":null,"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://doi.org/10.3390/robotics13080121","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021266997","display_name":"Juan Hernandez-Vicen","orcid":"https://orcid.org/0000-0001-9370-9286"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Juan Hernandez-Vicen","raw_affiliation_strings":["RoboticsLab, University Carlos III de Madrid, 28045 Madrid, Spain"],"raw_orcid":"https://orcid.org/0000-0001-9370-9286","affiliations":[{"raw_affiliation_string":"RoboticsLab, University Carlos III de Madrid, 28045 Madrid, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075235299","display_name":"Bartek \u0141ukawski","orcid":"https://orcid.org/0000-0002-1052-3345"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Bartek \u0141ukawski","raw_affiliation_strings":["RoboticsLab, University Carlos III de Madrid, 28045 Madrid, Spain"],"raw_orcid":"https://orcid.org/0000-0002-1052-3345","affiliations":[{"raw_affiliation_string":"RoboticsLab, University Carlos III de Madrid, 28045 Madrid, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101960669","display_name":"Santiago Mart\u00ednez","orcid":"https://orcid.org/0000-0003-3539-4583"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Santiago Martinez","raw_affiliation_strings":["RoboticsLab, University Carlos III de Madrid, 28045 Madrid, Spain"],"raw_orcid":"https://orcid.org/0000-0003-3539-4583","affiliations":[{"raw_affiliation_string":"RoboticsLab, University Carlos III de Madrid, 28045 Madrid, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos Tsagarakis","raw_affiliation_strings":["Instituto Italiano di Tecnologia (IIT), 16163 Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto Italiano di Tecnologia (IIT), 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038098758","display_name":"Carlos Balaguer","orcid":"https://orcid.org/0000-0003-4864-4625"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Carlos Balaguer","raw_affiliation_strings":["RoboticsLab, University Carlos III de Madrid, 28045 Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RoboticsLab, University Carlos III de Madrid, 28045 Madrid, Spain","institution_ids":["https://openalex.org/I50357001"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101960669"],"corresponding_institution_ids":["https://openalex.org/I50357001"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.572,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.61619048,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"13","issue":"8","first_page":"121","last_page":"121"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9962000250816345,"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/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/humanoid-robot","display_name":"Humanoid robot","score":0.7342817783355713},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7261598110198975},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.6498461961746216},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5269454717636108},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5153833627700806},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5128267407417297},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.45767590403556824},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36415064334869385}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7342817783355713},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7261598110198975},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.6498461961746216},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5269454717636108},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5153833627700806},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5128267407417297},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.45767590403556824},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36415064334869385},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics13080121","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13080121","pdf_url":null,"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:d6ac294e0a11468c812dfe2a7d8e608f","is_oa":true,"landing_page_url":"https://doaj.org/article/d6ac294e0a11468c812dfe2a7d8e608f","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 13, Iss 8, p 121 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics13080121","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13080121","pdf_url":null,"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":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W1995134023","https://openalex.org/W1996344100","https://openalex.org/W2004366781","https://openalex.org/W2010353978","https://openalex.org/W2021570254","https://openalex.org/W2045222441","https://openalex.org/W2074936002","https://openalex.org/W2106296284","https://openalex.org/W2107726111","https://openalex.org/W2118228082","https://openalex.org/W2118262422","https://openalex.org/W2131208256","https://openalex.org/W2147168033","https://openalex.org/W2163533523","https://openalex.org/W2172108647","https://openalex.org/W2284532964","https://openalex.org/W2292052440","https://openalex.org/W2562662934","https://openalex.org/W2753943679","https://openalex.org/W2798884954","https://openalex.org/W2950956522","https://openalex.org/W3107574589","https://openalex.org/W3115684843","https://openalex.org/W3169896556"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2129850190","https://openalex.org/W4256317079","https://openalex.org/W2295425790","https://openalex.org/W1991876829","https://openalex.org/W4389009354","https://openalex.org/W1974803039","https://openalex.org/W2088677124","https://openalex.org/W1589423663","https://openalex.org/W2143454724"],"abstract_inverted_index":{"Humanoid":[0],"robots":[1,156],"often":[2],"struggle":[3],"with":[4],"tasks":[5],"such":[6],"as":[7],"lifting":[8,114,139],"objects":[9],"due":[10],"to":[11,55,116,163],"the":[12,20,34,81,112,132,150],"complexity":[13],"involved":[14],"in":[15,137,157,167],"identifying":[16],"contact":[17,78,122,143],"points,":[18],"applying":[19],"correct":[21],"force,":[22],"and":[23,39,45,57,65,69,152],"tracking":[24],"task":[25],"progress.":[26],"We":[27],"propose":[28],"an":[29],"integrated":[30],"solution":[31],"that":[32],"leverages":[33],"dual-arm":[35],"capability":[36],"of":[37,134,142,154],"humanoids":[38],"utilizes":[40],"sensor":[41,102],"fusion":[42],"from":[43],"vision":[44,53],"force":[46,92,115],"sensors.":[47],"Our":[48],"system":[49],"employs":[50],"a":[51,88,107,127],"computer":[52],"algorithm":[54,110],"detect":[56],"characterize":[58],"object":[59],"properties":[60],"(shape,":[61],"size,":[62],"position,":[63],"orientation)":[64],"differentiate":[66],"between":[67],"parallel":[68,95],"non-parallel":[70,105],"bi-manipulation":[71],"tasks.":[72],"The":[73],"controller":[74,90],"then":[75],"identifies":[76],"optimal":[77],"points":[79],"for":[80],"end":[82],"effectors,":[83],"generating":[84],"trajectories":[85],"fed":[86],"into":[87],"closed-loop":[89],"using":[91,119],"feedback.":[93],"For":[94,104],"bi-manipulation,":[96],"momentum":[97],"cancellation":[98],"is":[99],"achieved":[100],"through":[101],"fusion.":[103],"surfaces,":[106],"reinforcement":[108],"learning":[109],"determines":[111],"appropriate":[113],"prevent":[117],"slippage":[118],"only":[120],"two":[121],"points.":[123],"Experimental":[124],"validation":[125],"on":[126],"real":[128],"humanoid":[129,155],"platform":[130],"demonstrates":[131],"effectiveness":[133],"our":[135],"approach":[136],"autonomously":[138],"objects,":[140],"regardless":[141],"surface":[144],"configuration.":[145],"This":[146],"advancement":[147],"significantly":[148],"enhances":[149],"reliability":[151],"versatility":[153],"performing":[158],"complex":[159],"manipulation":[160],"tasks,":[161],"contributing":[162],"their":[164],"practical":[165],"deployment":[166],"human-oriented":[168],"environments.":[169]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}