{"id":"https://openalex.org/W3009257463","doi":"https://doi.org/10.3390/robotics9010011","title":"Towards Tethered Tool Manipulation Planning with the Help of a Tool Balancer","display_name":"Towards Tethered Tool Manipulation Planning with the Help of a Tool Balancer","publication_year":2020,"publication_date":"2020-03-06","ids":{"openalex":"https://openalex.org/W3009257463","doi":"https://doi.org/10.3390/robotics9010011","mag":"3009257463"},"language":"en","primary_location":{"id":"doi:10.3390/robotics9010011","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics9010011","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/robotics9010011","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101750996","display_name":"Daniel S\u00e1nchez","orcid":"https://orcid.org/0000-0002-1106-3408"},"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":"Daniel Sanchez","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Osaka 560-8531, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Osaka 560-8531, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"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":true,"raw_author_name":"Weiwei Wan","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Osaka 560-8531, Japan"],"raw_orcid":"https://orcid.org/0000-0002-0058-2819","affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Osaka 560-8531, 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/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":"Kensuke Harada","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Osaka 560-8531, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7576-756X","affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Osaka 560-8531, Japan","institution_ids":["https://openalex.org/I98285908"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5087787651"],"corresponding_institution_ids":["https://openalex.org/I98285908"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1782},"fwci":0.707,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.66795671,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"9","issue":"1","first_page":"11","last_page":"11"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9983999729156494,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7801178693771362},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7229589223861694},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5653941035270691},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4509163498878479},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.448237806558609},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4396669864654541},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42564815282821655},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38307860493659973},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2197687327861786},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.11534073948860168}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7801178693771362},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7229589223861694},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5653941035270691},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4509163498878479},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.448237806558609},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4396669864654541},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42564815282821655},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38307860493659973},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2197687327861786},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.11534073948860168}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics9010011","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics9010011","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:1ceed2962bcd46c8bb1d6b5c7ceb893d","is_oa":true,"landing_page_url":"https://doaj.org/article/1ceed2962bcd46c8bb1d6b5c7ceb893d","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 9, Iss 1, p 11 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics9010011","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics9010011","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":36,"referenced_works":["https://openalex.org/W138882551","https://openalex.org/W1527127121","https://openalex.org/W1809059965","https://openalex.org/W1827984144","https://openalex.org/W1968268201","https://openalex.org/W2006104867","https://openalex.org/W2046218227","https://openalex.org/W2088332537","https://openalex.org/W2100672260","https://openalex.org/W2108383827","https://openalex.org/W2119926658","https://openalex.org/W2141097672","https://openalex.org/W2163178194","https://openalex.org/W2166108261","https://openalex.org/W2170220350","https://openalex.org/W2217960268","https://openalex.org/W2225490378","https://openalex.org/W2472568752","https://openalex.org/W2515082088","https://openalex.org/W2524241275","https://openalex.org/W2568917046","https://openalex.org/W2786683240","https://openalex.org/W2804941773","https://openalex.org/W2805530149","https://openalex.org/W2891614462","https://openalex.org/W2910445581","https://openalex.org/W2997839416","https://openalex.org/W3006809349","https://openalex.org/W3009808496","https://openalex.org/W3098436915","https://openalex.org/W3099533866","https://openalex.org/W3102408685","https://openalex.org/W6676294729","https://openalex.org/W6678144642","https://openalex.org/W6720352720","https://openalex.org/W6828868098"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103","https://openalex.org/W1999333556"],"abstract_inverted_index":{"Handling":[0],"and":[1,71,83,122,136,147,169,181],"maneuvering":[2,30],"tools":[3],"across":[4],"a":[5,9,99,114],"robot":[6,46,56,70,90,139,174],"workspace":[7],"is":[8,42],"challenging":[10],"task":[11],"that":[12],"often":[13],"requires":[14],"the":[15,22,35,39,45,50,55,69,72,75,78,89,119,124,131,138,155,163,167,173,177,185],"implementation":[16],"of":[17,24,60,77,86],"constrained":[18,100],"motion":[19],"planning.":[20],"In":[21],"case":[23],"wired":[25],"or":[26,58,65],"tethered":[27,105],"tools,":[28],"their":[29],"becomes":[31],"considerably":[32],"harder":[33],"by":[34,172],"tool":[36,79,106,109,115,120,151],"cable.":[37],"If":[38],"cable":[40,51,80,121,125,132,145,164,178],"presence":[41],"not":[43],"considered,":[44],"motions":[47,140],"may":[48],"make":[49],"become":[52],"entangled":[53],"with":[54],"arms":[57],"elements":[59],"its":[61,84],"workspace,":[62],"causing":[63],"accidents":[64],"unnecessary":[66],"strain":[67],"on":[68],"tool.":[73],"Furthermore,":[74,154],"behavior":[76],"during":[81,134],"manipulation":[82,101,107,135],"degree":[85],"entanglement":[87],"around":[88],"are":[91],"difficult":[92],"to":[93,117,143,161,176],"predict.":[94],"The":[95,128],"present":[96],"paper":[97],"introduces":[98],"planner":[102,129,156],"for":[103],"dual-armed":[104],"involving":[108],"re-grasping.":[110],"Our":[111],"solution":[112],"employs":[113],"balancer":[116],"straighten":[118],"facilitate":[123],"deformation":[126],"problem.":[127],"predicts":[130],"states":[133],"restricts":[137],"in":[141],"order":[142],"avoid":[144],"entanglements":[146],"collisions":[148],"while":[149],"performing":[150],"re-posing":[152],"tasks.":[153],"also":[157],"applies":[158],"orientational":[159],"constraints":[160],"limit":[162],"bending,":[165],"reducing":[166],"torque":[168],"stress":[170],"suffered":[171],"due":[175],"tension.":[179],"Simulations":[180],"real-world":[182],"experiments":[183],"validated":[184],"presented":[186],"method.":[187]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
