{"id":"https://openalex.org/W2008131304","doi":"https://doi.org/10.4018/ijrat.2014010103","title":"Mixed Autonomous/Teleoperation Control of Asymmetric Robotic Systems","display_name":"Mixed Autonomous/Teleoperation Control of Asymmetric Robotic Systems","publication_year":2014,"publication_date":"2014-01-01","ids":{"openalex":"https://openalex.org/W2008131304","doi":"https://doi.org/10.4018/ijrat.2014010103","mag":"2008131304"},"language":"en","primary_location":{"id":"doi:10.4018/ijrat.2014010103","is_oa":false,"landing_page_url":"https://doi.org/10.4018/ijrat.2014010103","pdf_url":null,"source":{"id":"https://openalex.org/S4210174448","display_name":"International Journal of Robotics Applications and Technologies","issn_l":"2166-7195","issn":["2166-7195","2166-7209"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320424","host_organization_name":"IGI Global","host_organization_lineage":["https://openalex.org/P4310320424"],"host_organization_lineage_names":["IGI Global"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Robotics Applications and Technologies","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/A5035582791","display_name":"Pawel Malysz","orcid":null},"institutions":[{"id":"https://openalex.org/I98251732","display_name":"McMaster University","ror":"https://ror.org/02fa3aq29","country_code":"CA","type":"education","lineage":["https://openalex.org/I98251732"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Pawel Malysz","raw_affiliation_strings":["Department of Electrical and Computer Engineering, McMaster University, Hamilton, Ontario, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, McMaster University, Hamilton, Ontario, Canada","institution_ids":["https://openalex.org/I98251732"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090620818","display_name":"Shahin Sirouspour","orcid":"https://orcid.org/0000-0003-4882-2161"},"institutions":[{"id":"https://openalex.org/I98251732","display_name":"McMaster University","ror":"https://ror.org/02fa3aq29","country_code":"CA","type":"education","lineage":["https://openalex.org/I98251732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Shahin Sirouspour","raw_affiliation_strings":["Department of Electrical and Computer Engineering, McMaster University, Hamilton, Ontario, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, McMaster University, Hamilton, Ontario, Canada","institution_ids":["https://openalex.org/I98251732"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5035582791"],"corresponding_institution_ids":["https://openalex.org/I98251732"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.10885124,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2","issue":"1","first_page":"35","last_page":"60"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9728000164031982,"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/T13248","display_name":"Healthcare Technology and Patient Monitoring","score":0.9627000093460083,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.960451602935791},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5756336450576782},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.531242847442627},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5208176374435425},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5204420685768127},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.519323468208313},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.47412800788879395},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47274884581565857},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.45898541808128357},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.43880516290664673},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3419055938720703},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3380114436149597},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3109203577041626},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.154679536819458}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.960451602935791},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5756336450576782},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.531242847442627},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5208176374435425},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5204420685768127},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.519323468208313},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.47412800788879395},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47274884581565857},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.45898541808128357},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.43880516290664673},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3419055938720703},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3380114436149597},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3109203577041626},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.154679536819458},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.4018/ijrat.2014010103","is_oa":false,"landing_page_url":"https://doi.org/10.4018/ijrat.2014010103","pdf_url":null,"source":{"id":"https://openalex.org/S4210174448","display_name":"International Journal of Robotics Applications and Technologies","issn_l":"2166-7195","issn":["2166-7195","2166-7209"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320424","host_organization_name":"IGI Global","host_organization_lineage":["https://openalex.org/P4310320424"],"host_organization_lineage_names":["IGI Global"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Robotics Applications and Technologies","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W146858336","https://openalex.org/W171689409","https://openalex.org/W341380584","https://openalex.org/W1510075648","https://openalex.org/W1558015773","https://openalex.org/W1967390389","https://openalex.org/W2017660707","https://openalex.org/W2031051635","https://openalex.org/W2049321721","https://openalex.org/W2057359881","https://openalex.org/W2059314672","https://openalex.org/W2067161665","https://openalex.org/W2069301220","https://openalex.org/W2101153207","https://openalex.org/W2103543793","https://openalex.org/W2109210984","https://openalex.org/W2115570023","https://openalex.org/W2118709214","https://openalex.org/W2123692554","https://openalex.org/W2134372665","https://openalex.org/W2142134215","https://openalex.org/W2149503209","https://openalex.org/W2150483523","https://openalex.org/W2152076012","https://openalex.org/W2154959062","https://openalex.org/W2155188066","https://openalex.org/W2161403133","https://openalex.org/W2162357215","https://openalex.org/W2167250303","https://openalex.org/W2169900819","https://openalex.org/W2173349219","https://openalex.org/W3146960976"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2048862765","https://openalex.org/W2160982102","https://openalex.org/W4281943815","https://openalex.org/W2364738582","https://openalex.org/W2094105667","https://openalex.org/W2097347938","https://openalex.org/W2164858976","https://openalex.org/W2970545857","https://openalex.org/W4311378573"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,18,71,139],"unified":[4],"framework":[5,41],"for":[6,43,100],"system":[7,22,130,141,149],"design":[8,150],"and":[9,31,76,87,132,151],"control":[10,46,62,65,111,152],"in":[11,90],"human-in-the-loop":[12],"asymmetric":[13,102],"robotic":[14],"systems.":[15,105],"It":[16],"introduces":[17],"highly":[19],"general":[20],"teleoperation":[21,61,73,104,120],"configuration":[23,142],"involving":[24],"any":[25],"number":[26],"of":[27,37,47,70,108,129,146],"operators,":[28],"haptic":[29],"interfaces,":[30],"robots":[32],"with":[33,116,138],"possibly":[34],"different":[35,113],"degrees":[36],"mobility.":[38],"The":[39,64,81],"proposed":[40,148],"allows":[42],"mixed":[44],"teleoperation/autonomous":[45],"user-defined":[48],"subtasks":[49],"by":[50],"establishing":[51],"position/force":[52],"tracking":[53],"as":[54,56],"well":[55],"kinematic":[57],"constraints":[58],"among":[59],"relevant":[60],"frames.":[63],"strategy":[66],"is":[67,134],"hierarchical":[68],"comprising":[69],"high-level":[72],"coordinating":[74],"controller":[75],"low-level":[77],"joint":[78],"velocity":[79],"controllers.":[80],"approach":[82],"utilizes":[83],"idempotent,":[84],"generalized":[85],"pseudoinverse":[86],"weighting":[88],"matrices":[89],"order":[91],"to":[92,118],"achieve":[93],"new":[94],"performance":[95,131],"objectives":[96],"that":[97],"are":[98,121],"defined":[99],"such":[101],"semi-autonomous":[103],"Three":[106],"layers":[107],"velocity-based":[109],"autonomous":[110],"at":[112],"priority":[114],"levels":[115],"respect":[117],"human":[119],"integrated":[122],"into":[123],"the":[124,147],"framework.":[125],"A":[126],"detailed":[127],"analysis":[128],"stability":[133],"presented.":[135],"Experimental":[136],"results":[137],"single-master/dual-slave":[140],"demonstrate":[143],"an":[144],"application":[145],"strategy.":[153]},"counts_by_year":[{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
