{"id":"https://openalex.org/W7119525227","doi":"https://doi.org/10.3390/robotics15010017","title":"Multimodal Control of Manipulators: Coupling Kinematics and Vision for Self-Driving Laboratory Operations","display_name":"Multimodal Control of Manipulators: Coupling Kinematics and Vision for Self-Driving Laboratory Operations","publication_year":2026,"publication_date":"2026-01-09","ids":{"openalex":"https://openalex.org/W7119525227","doi":"https://doi.org/10.3390/robotics15010017"},"language":"en","primary_location":{"id":"doi:10.3390/robotics15010017","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15010017","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/robotics15010017","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076184368","display_name":"Shifa Sulaiman","orcid":"https://orcid.org/0000-0002-5330-0053"},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Shifa Sulaiman","raw_affiliation_strings":["Department of Electronics Systems, Aalborg University, 9220 Aalborg, Denmark"],"raw_orcid":"https://orcid.org/0000-0002-5330-0053","affiliations":[{"raw_affiliation_string":"Department of Electronics Systems, Aalborg University, 9220 Aalborg, Denmark","institution_ids":["https://openalex.org/I891191580"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122320188","display_name":"Amarnath Harikumar","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amarnath Harikumar","raw_affiliation_strings":["Nawe Robotics, Calicut 673601, India"],"raw_orcid":"https://orcid.org/0000-0002-3367-5755","affiliations":[{"raw_affiliation_string":"Nawe Robotics, Calicut 673601, India","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122349166","display_name":"Simon B\u00f8gh","orcid":null},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Simon B\u00f8gh","raw_affiliation_strings":["Department of Electronics Systems, Aalborg University, 9220 Aalborg, Denmark"],"raw_orcid":"https://orcid.org/0000-0002-5960-4365","affiliations":[{"raw_affiliation_string":"Department of Electronics Systems, Aalborg University, 9220 Aalborg, Denmark","institution_ids":["https://openalex.org/I891191580"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011562571","display_name":"Naresh Marturi","orcid":"https://orcid.org/0000-0002-0159-167X"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Naresh Marturi","raw_affiliation_strings":["Extreme Robotics Laboratory, School of Metallurgy & Materials, University of Birmingham, Birmingham B15 2TT, UK"],"raw_orcid":"https://orcid.org/0000-0002-0159-167X","affiliations":[{"raw_affiliation_string":"Extreme Robotics Laboratory, School of Metallurgy & Materials, University of Birmingham, Birmingham B15 2TT, UK","institution_ids":["https://openalex.org/I79619799"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.03705652,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"15","issue":"1","first_page":"17","last_page":"17"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7353000044822693,"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":0.7353000044822693,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.0820000022649765,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.04019999876618385,"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/kinematics","display_name":"Kinematics","score":0.7803999781608582},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5317000150680542},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5145999789237976},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5097000002861023},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46470001339912415},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.43140000104904175},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4214000105857849},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.4163999855518341},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.4077000021934509},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.4016999900341034}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7803999781608582},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5708000063896179},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.541100025177002},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5317000150680542},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5145999789237976},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5097000002861023},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46470001339912415},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4449000060558319},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4343000054359436},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.43140000104904175},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4214000105857849},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.4163999855518341},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.4077000021934509},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.4016999900341034},{"id":"https://openalex.org/C95020103","wikidata":"https://www.wikidata.org/wiki/Q1813492","display_name":"Match moving","level":3,"score":0.3808000087738037},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.35600000619888306},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.35100001096725464},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.3418999910354614},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.3301999866962433},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.3294999897480011},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32919999957084656},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3287000060081482},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.31450000405311584},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3059000074863434},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.2921999990940094},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.28949999809265137},{"id":"https://openalex.org/C135981907","wikidata":"https://www.wikidata.org/wiki/Q188056","display_name":"Triangulation","level":2,"score":0.2892000079154968},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.28780001401901245},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.27889999747276306},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.27480000257492065},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.2709999978542328},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2669999897480011},{"id":"https://openalex.org/C177212765","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Workflow","level":2,"score":0.2669000029563904},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.26190000772476196},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.2599000036716461},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.2565999925136566},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.25519999861717224},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.2508000135421753}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics15010017","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15010017","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:pure.atira.dk:openaire/e58dd7e2-924e-4a5b-8f58-f299dc63a5d9","is_oa":true,"landing_page_url":"https://vbn.aau.dk/da/publications/e58dd7e2-924e-4a5b-8f58-f299dc63a5d9","pdf_url":null,"source":{"id":"https://openalex.org/S4306401731","display_name":"VBN Forskningsportal (Aalborg Universitet)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I891191580","host_organization_name":"Aalborg University","host_organization_lineage":["https://openalex.org/I891191580"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sulaiman, S, Harikumar, A, B\u00f8gh, S & Marturi, N 2026, 'Multimodal Control of Manipulators : Coupling Kinematics and Vision for Self-Driving Laboratory Operations', Robotics, vol. 15, no. 1, 17. https://doi.org/10.3390/robotics15010017","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/14b75377-f734-4531-812b-941cd07b6627","is_oa":true,"landing_page_url":"https://research.birmingham.ac.uk/en/publications/14b75377-f734-4531-812b-941cd07b6627","pdf_url":null,"source":{"id":"https://openalex.org/S4306402634","display_name":"University of Birmingham Research Portal (University of Birmingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79619799","host_organization_name":"University of Birmingham","host_organization_lineage":["https://openalex.org/I79619799"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sulaiman, S, Harikumar, A, B\u00f8gh, S & Marturi, N 2026, 'Multimodal Control of Manipulators : Coupling Kinematics and Vision for Self-Driving Laboratory Operations', Robotics, vol. 15, no. 1, 17. https://doi.org/10.3390/robotics15010017","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:doaj.org/article:464c555f67e3478aaea07a16c5db212e","is_oa":true,"landing_page_url":"https://doaj.org/article/464c555f67e3478aaea07a16c5db212e","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 15, Iss 1, p 17 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics15010017","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15010017","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1983670955","https://openalex.org/W2015348959","https://openalex.org/W2025112904","https://openalex.org/W2085261163","https://openalex.org/W2116428968","https://openalex.org/W2166820607","https://openalex.org/W2421020186","https://openalex.org/W2792139243","https://openalex.org/W2947780911","https://openalex.org/W2973603741","https://openalex.org/W3003449769","https://openalex.org/W3034604564","https://openalex.org/W3056171435","https://openalex.org/W3121142051","https://openalex.org/W3160010143","https://openalex.org/W3161214983","https://openalex.org/W3162678267","https://openalex.org/W3169361559","https://openalex.org/W3183163922","https://openalex.org/W3186412131","https://openalex.org/W3207993644","https://openalex.org/W4223460448","https://openalex.org/W4292639835","https://openalex.org/W4310145880","https://openalex.org/W4380450805","https://openalex.org/W4384159332","https://openalex.org/W4384159358","https://openalex.org/W4385246711","https://openalex.org/W4391323745","https://openalex.org/W4394765061","https://openalex.org/W4399469378","https://openalex.org/W4407774879","https://openalex.org/W4413319309"],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"experimental":[1],"platforms":[2],"increasingly":[3],"rely":[4],"on":[5,33],"robust,":[6],"vision-guided":[7],"robotic":[8],"manipulation":[9,214],"to":[10,101],"support":[11],"reliable":[12],"and":[13,42,52,92,115,125,158,165,183,192,204],"repeatable":[14],"laboratory":[15,29],"operations.":[16],"This":[17],"work":[18],"presents":[19],"a":[20,58,85,151,152,209],"modular":[21],"motion-execution":[22],"subsystem":[23,200],"designed":[24],"for":[25,88,212],"integration":[26],"into":[27],"self-driving":[28],"(SDL)":[30],"workflows,":[31],"focusing":[32],"the":[34,74,79,93,107,121,135,198,213],"coupling":[35],"of":[36,73,123,168,216],"real-time":[37,68],"visual":[38,69],"perception":[39],"with":[40,54,67],"smooth":[41],"stable":[43,114],"manipulator":[44,75],"control.":[45],"The":[46,171],"framework":[47],"enables":[48],"autonomous":[49],"detection,":[50],"tracking,":[51],"interaction":[53],"textured":[55,169],"objects":[56,131],"through":[57,150],"hybrid":[59],"scheme":[60],"that":[61,197],"couples":[62],"advanced":[63],"motion":[64,185,206],"planning":[65,141],"algorithms":[66],"feedback.":[70],"Kinematic":[71],"analysis":[72],"is":[76,148,174],"performed":[77],"using":[78,134,177],"screw":[80],"theory":[81],"formulations,":[82],"which":[83],"provide":[84],"rigorous":[86],"foundation":[87],"deriving":[89],"forward":[90],"kinematics":[91],"space":[94],"Jacobian.":[95],"These":[96],"formulations":[97],"are":[98,132],"further":[99],"employed":[100],"compute":[102],"inverse":[103],"kinematic":[104],"solutions":[105],"via":[106],"Damped":[108],"Least":[109],"Squares":[110],"(DLS)":[111],"method,":[112],"ensuring":[113],"continuous":[116],"joint":[117,184],"trajectories":[118,128],"even":[119],"in":[120],"presence":[122],"redundancy":[124],"singularities.":[126],"Motion":[127],"toward":[129],"target":[130],"generated":[133],"RRT*":[136],"algorithm,":[137],"offering":[138],"optimal":[139],"path":[140],"under":[142],"dynamic":[143,166],"constraints.":[144],"Object":[145],"pose":[146,181],"estimation":[147],"achieved":[149],"vision":[153],"workflow":[154],"integrating":[155],"feature-driven":[156],"detection":[157],"homography-guided":[159],"depth":[160],"analysis,":[161],"enabling":[162],"adaptive":[163],"tracking":[164],"grasping":[167],"objects.":[170],"manipulator\u2019s":[172],"performance":[173],"quantitatively":[175],"evaluated":[176],"smoothness":[178],"metrics,":[179],"RMSE":[180],"errors,":[182],"profiles,":[186],"including":[187],"velocity":[188],"continuity,":[189],"acceleration,":[190],"jerk,":[191],"snap.":[193],"Simulation":[194],"results":[195],"demonstrate":[196],"proposed":[199],"delivers":[201],"stable,":[202],"smooth,":[203],"reproducible":[205],"execution,":[207],"establishing":[208],"validated":[210],"baseline":[211],"layer":[215],"next-generation":[217],"SDL":[218],"architectures.":[219]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2026-01-09T00:00:00"}