{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,26]],"date-time":"2025-03-26T08:47:40Z","timestamp":1742978860981,"version":"3.40.3"},"publisher-location":"Berlin, Heidelberg","reference-count":32,"publisher":"Springer Berlin Heidelberg","isbn-type":[{"type":"print","value":"9783642251153"},{"type":"electronic","value":"9783642251160"}],"license":[{"start":{"date-parts":[[2012,1,1]],"date-time":"2012-01-01T00:00:00Z","timestamp":1325376000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2012,1,1]],"date-time":"2012-01-01T00:00:00Z","timestamp":1325376000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2012]]},"DOI":"10.1007\/978-3-642-25116-0_23","type":"book-chapter","created":{"date-parts":[[2012,3,12]],"date-time":"2012-03-12T07:03:02Z","timestamp":1331535782000},"page":"353-366","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":14,"title":["Dual-Arm Manipulation"],"prefix":"10.1007","author":[{"given":"Thomas","family":"Wimb\u00f6ck","sequence":"first","affiliation":[]},{"given":"Christian","family":"Ott","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2012,3,13]]},"reference":[{"unstructured":"Diftler, M.A., Ambrose, R.O., Goza, S.M., Tyree, K.S., Huber, E.L.: Robonaut mobile autonomy: Initial experiments. In: IEEE International Conference on Robotics and Automation, pp. 1437\u20131442 (2005)","key":"23_CR1"},{"issue":"5-6","key":"23_CR2","doi-asserted-by":"publisher","first-page":"593","DOI":"10.1177\/0278364906065900","volume":"25","author":"K. Yokoi","year":"2006","unstructured":"Yokoi, K., Nakashima, K., Kobayashi, M., Mihune, H., Hasunuma, H., Yanagihara, Y., Ueno, T., Gokyuu, T., Endou, K.: A tele-operated humanoid operator. The International Journal of Robotics Research\u00a025(5-6), 593\u2013602 (2006)","journal-title":"The International Journal of Robotics Research"},{"doi-asserted-by":"crossref","unstructured":"Platt Jr., R., Fagg, A.H., Grupen, R.A.: Manipulation gaits: Sequences of grasp control tasks. In: IEEE International Conference on Robotics and Automation, pp. 801\u2013806 (2004)","key":"23_CR3","DOI":"10.1109\/ROBOT.2004.1307247"},{"doi-asserted-by":"crossref","unstructured":"Iwata, H., Hoshino, H., Morita, T., Sugano, S.: Human-humanoid physical interaction realizing force following and task fulfillment. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 522\u2013527 (2000)","key":"23_CR4","DOI":"10.1109\/IROS.2000.894657"},{"issue":"4","key":"23_CR5","doi-asserted-by":"publisher","first-page":"691","DOI":"10.1115\/1.2802344","volume":"118","author":"P. Chiacchio","year":"1996","unstructured":"Chiacchio, P., Chiaverini, S., Siciliano, B.: Direct and inverse kinematics for coordinated motion tasks of a two-manipulator system. ASME Journal of Dynamic Systems, Measurement, and Control\u00a0118(4), 691\u2013697 (1996)","journal-title":"ASME Journal of Dynamic Systems, Measurement, and Control"},{"issue":"3","key":"23_CR6","doi-asserted-by":"publisher","first-page":"60","DOI":"10.1177\/027836498700600304","volume":"6","author":"J.Y.S. Luh","year":"1987","unstructured":"Luh, J.Y.S., Zheng, Y.F.: Constrained relations between two coordinated industrial robots for motion control. The International Journal of Robotics Research\u00a06(3), 60\u201370 (1987)","journal-title":"The International Journal of Robotics Research"},{"doi-asserted-by":"crossref","unstructured":"Uchiyama, M., Dauchez, P.: A symmetric hybrid position\/force control scheme for the coordination of two robots. In: IEEE International Conference on Robotics and Automation, vol.\u00a01, pp. 350\u2013356 (April 1988)","key":"23_CR7","DOI":"10.1109\/ROBOT.1988.12073"},{"doi-asserted-by":"crossref","unstructured":"Nakamura, Y., Nagai, K., Yoshikawa, T.: Mechanics of coordinative manipulation by multiple robotic mechanisms. In: Proceedings of IEEE International Conference on Robotics and Automation, vol.\u00a04, pp. 991\u2013998 (March 1987)","key":"23_CR8","DOI":"10.1109\/ROBOT.1987.1087941"},{"unstructured":"Williams, D., Khatib, O.: The virtual linkage: A model for internal forces in multi-grasp manipulation. In: IEEE International Conference on Robotics and Automation, pp. 1025\u20131030 (1993)","key":"23_CR9"},{"doi-asserted-by":"crossref","unstructured":"Chang, K.S., Holmberg, R., Khatib, O.: The augmented object model: cooperative manipulation and parallel mechanism dynamics. In: IEEE International Conference on Robotics and Automation, vol.\u00a01, pp. 470\u2013475 (2000)","key":"23_CR10","DOI":"10.1109\/ROBOT.2000.844099"},{"doi-asserted-by":"crossref","unstructured":"Hayati, S.: Hybrid position\/force control of multi-arm cooperating robots. In: IEEE International Conference on Robotics and Automation, vol.\u00a03, pp. 82\u201389 (April 1986)","key":"23_CR11","DOI":"10.1109\/ROBOT.1986.1087650"},{"issue":"3","key":"23_CR12","doi-asserted-by":"publisher","first-page":"383","DOI":"10.1109\/70.143355","volume":"8","author":"S.A. Schneider","year":"1992","unstructured":"Schneider, S.A., Cannon, J.R.H.: Object impedance control for cooperative manipulation: Theory and experimental results. IEEE Transactions on Robotics and Automation\u00a08(3), 383\u2013394 (1992)","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"23_CR13","doi-asserted-by":"publisher","first-page":"78","DOI":"10.1109\/70.481752","volume":"12","author":"R.G. Bonitz","year":"1996","unstructured":"Bonitz, R.G., Hsia, T.C.: Internal force-based impedance control for cooperating manipulators. IEEE Transactions on Robotics and Automation\u00a012, 78\u201389 (1996)","journal-title":"IEEE Transactions on Robotics and Automation"},{"issue":"4","key":"23_CR14","doi-asserted-by":"publisher","first-page":"351","DOI":"10.1177\/027836499501400404","volume":"14","author":"Y.-R. Hu","year":"1995","unstructured":"Hu, Y.-R., Goldenberg, A.A., Zhou, C.: Motion and force control of coordinated robots during constrained motion tasks. The International Journal of Robotics Research\u00a014(4), 351\u2013365 (1995)","journal-title":"The International Journal of Robotics Research"},{"issue":"3","key":"23_CR15","doi-asserted-by":"publisher","first-page":"232","DOI":"10.1177\/027836499801700302","volume":"17","author":"Y.-H. Liu","year":"1998","unstructured":"Liu, Y.-H., Arimoto, S.: Decentralized Adaptive and Nonadaptive Position\/Force Controllers for Redundant Manipulators in Cooperations. The International Journal of Robotics Research\u00a017(3), 232\u2013247 (1998)","journal-title":"The International Journal of Robotics Research"},{"key":"23_CR16","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1023\/B:JINT.0000010794.37580.3a","volume":"39","author":"M. Yamano","year":"2004","unstructured":"Yamano, M., Kim, J.-S., Konno, A., Uchiyama, M.: Cooperative control of a 3d dual-flexible-arm robot. Journal of Intelligent Robotic Systems\u00a039, 1\u201315 (2004)","journal-title":"Journal of Intelligent Robotic Systems"},{"issue":"3","key":"23_CR17","doi-asserted-by":"publisher","first-page":"275","DOI":"10.1177\/0278364904041878","volume":"23","author":"T. Miyabe","year":"2004","unstructured":"Miyabe, T., Konno, A., Uchiyama, M., Yamano, M.: An approach toward an automated object retrieval operation with a two-arm flexible manipulator. The International Journal of Robotics Research\u00a023(3), 275\u2013291 (2004)","journal-title":"The International Journal of Robotics Research"},{"issue":"4","key":"23_CR18","doi-asserted-by":"publisher","first-page":"498","DOI":"10.1109\/TRA.2002.802229","volume":"18","author":"D. Sun","year":"2002","unstructured":"Sun, D., Mills, J.K.: Adaptive synchronized control for coordination of multirobot assembly tasks. IEEE Transactions on Robotics and Automation\u00a018(4), 498\u2013510 (2002)","journal-title":"IEEE Transactions on Robotics and Automation"},{"unstructured":"Kokotovi\u0107, P.V., Khalil, H.K., O\u2019Reilly, J.: Singular Perturbation Methods in Control: Analysis and Design. Academic Press Inc. (1986)","key":"23_CR19"},{"doi-asserted-by":"crossref","unstructured":"Ott, C.: Cartesian impedance control of flexible joint manipulators. Ph.D. dissertation, Saarland University (2005)","key":"23_CR20","DOI":"10.5772\/4675"},{"doi-asserted-by":"crossref","unstructured":"Pratt, G.A., Williamson, M.M., Dillworth, P., Pratt, J., Ulland, K., Wright, A.: Stiffness isn\u2019t everything. In: Preprints of the Fourth International Symposium on Experimental Robotics, pp. 253\u2013262 (1995)","key":"23_CR21","DOI":"10.1007\/BFb0035216"},{"key":"23_CR22","doi-asserted-by":"crossref","DOI":"10.1007\/b98818","volume-title":"Matrix Algebra from a Statistician\u2019s Perspective","author":"D. Harville","year":"1997","unstructured":"Harville, D.: Matrix Algebra from a Statistician\u2019s Perspective. Springer, Heidelberg (1997)"},{"issue":"2","key":"23_CR23","doi-asserted-by":"publisher","first-page":"289","DOI":"10.1109\/70.760350","volume":"15","author":"F. Caccavale","year":"1999","unstructured":"Caccavale, F., Natale, C., Siciliano, B., Villani, L.: Six-dof impedance control based on angle\/axis representations. IEEE Transactions on Robotics and Automation\u00a015(2), 289\u2013299 (1999)","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"23_CR24","series-title":"STAR","volume-title":"Interaction Control of Robot Manipulators: Six-Degrees-of-Freedom Tasks","author":"C. Natale","year":"2003","unstructured":"Natale, C.: Interaction Control of Robot Manipulators: Six-Degrees-of-Freedom Tasks. STAR, vol.\u00a03. Springer, Heidelberg (2003)"},{"issue":"4","key":"23_CR25","doi-asserted-by":"publisher","first-page":"546","DOI":"10.1109\/70.611315","volume":"13","author":"E.D. Fasse","year":"1997","unstructured":"Fasse, E.D., Broenink, J.F.: A spatial impedance controller for robotic manipulation. IEEE Transactions on Robotics and Automation\u00a013(4), 546\u2013556 (1997)","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"23_CR26","doi-asserted-by":"publisher","first-page":"839","DOI":"10.1115\/1.2802402","volume":"119","author":"E.D. Fasse","year":"1997","unstructured":"Fasse, E.D.: On the spatial compliance of robotic manipulators. ASME Journal of Dynamic Systems, Measurement, and Control\u00a0119, 839\u2013844 (1997)","journal-title":"ASME Journal of Dynamic Systems, Measurement, and Control"},{"key":"23_CR27","doi-asserted-by":"publisher","first-page":"75","DOI":"10.1023\/A:1009895915332","volume":"4","author":"S. Zhang","year":"2000","unstructured":"Zhang, S., Fasse, E.D.: Spatial compliance modeling using a quaternion-based potential function method. Multibody System Dynamics\u00a04, 75\u2013101 (2000)","journal-title":"Multibody System Dynamics"},{"doi-asserted-by":"crossref","unstructured":"Stramigioli, S., Duindam, V.: Variable spatial springs for robot control applications. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 1906\u20131911 (2001)","key":"23_CR28","DOI":"10.1109\/IROS.2001.976352"},{"key":"23_CR29","series-title":"LNCIS","volume-title":"Modeling and IPC Control of Interactive Mechanical Systems: A Coordinate-free Approach","author":"S. Stramigioli","year":"2001","unstructured":"Stramigioli, S.: Modeling and IPC Control of Interactive Mechanical Systems: A Coordinate-free Approach. LNCIS, vol.\u00a0266. Springer, Heidelberg (2001)"},{"issue":"4","key":"23_CR30","doi-asserted-by":"publisher","first-page":"542","DOI":"10.1109\/TCST.2004.825065","volume":"12","author":"A. Rodriguez-Angeles","year":"2004","unstructured":"Rodriguez-Angeles, A., Nijmeijer, H.: Mutual synchronization of robots via estimated state feedback: a cooperative approach. IEEE Transactions on Control Systems Technology\u00a012(4), 542\u2013554 (2004)","journal-title":"IEEE Transactions on Control Systems Technology"},{"doi-asserted-by":"crossref","unstructured":"Ott, C., Nakamura, Y.: Employing wave variables for coordinated control of robots with distributed control architecture. In: IEEE International Conference on Robotics and Automation, pp. 575\u2013582 (May 2008)","key":"23_CR31","DOI":"10.1109\/ROBOT.2008.4543268"},{"doi-asserted-by":"crossref","unstructured":"Wimb\u00f6ck, T., Ott, C., Hirzinger, G.: Impedance behaviors for two-handed manipulation: Design and experiments. In: IEEE International Conference on Robotics and Automation, pp. 4182\u20134189 (2007)","key":"23_CR32","DOI":"10.1109\/ROBOT.2007.364122"}],"container-title":["Springer Tracts in Advanced Robotics","Towards Service Robots for Everyday Environments"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-642-25116-0_23","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,22]],"date-time":"2025-03-22T23:43:50Z","timestamp":1742687030000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-642-25116-0_23"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012]]},"ISBN":["9783642251153","9783642251160"],"references-count":32,"URL":"https:\/\/doi.org\/10.1007\/978-3-642-25116-0_23","relation":{},"ISSN":["1610-7438","1610-742X"],"issn-type":[{"type":"print","value":"1610-7438"},{"type":"electronic","value":"1610-742X"}],"subject":[],"published":{"date-parts":[[2012]]},"assertion":[{"value":"13 March 2012","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}}]}}