{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,7,1]],"date-time":"2024-07-01T22:35:14Z","timestamp":1719873314525},"reference-count":21,"publisher":"Cambridge University Press (CUP)","issue":"9","license":[{"start":{"date-parts":[[2014,5,1]],"date-time":"2014-05-01T00:00:00Z","timestamp":1398902400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2015,11]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper studies the modeling and analysis of a system with two cooperative manipulators working together on a common task. The task is defined as the transportation of an object in space. The cooperative system is the dual-arm of the humanoid robot Nao, where the serial architecture of each arm has 5 degrees of freedom. The kinematics representing the closed chain system is studied. The mobility of the closed-loop system is analyzed and the nature of the possible motions explored. The stiffness of some motors can be reduced until they behave as passive joints. Certain joints are then chosen as actuated (independent) and the others as passive (dependent). The serial and parallel singular configurations of the system are considered. From the kinematic analysis, admissible and inadmissible minimum actuation schemes are analyzed. Furthermore the dynamic performance of the schemes is compared to find the optimum minimum actuation scheme.<\/jats:p>","DOI":"10.1017\/s0263574714001039","type":"journal-article","created":{"date-parts":[[2014,5,1]],"date-time":"2014-05-01T12:34:34Z","timestamp":1398947674000},"page":"1813-1834","source":"Crossref","is-referenced-by-count":9,"title":["Kinematic and dynamic analysis of lower-mobility cooperative arms"],"prefix":"10.1017","volume":"33","author":[{"given":"Philip","family":"Long","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wisama","family":"Khalil","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"St\u00e9phane","family":"Caro","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,5,1]]},"reference":[{"key":"S0263574714001039_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1986.1087552"},{"key":"S0263574714001039_ref14","first-page":"280","volume-title":"Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics","author":"Long","year":"2012"},{"key":"S0263574714001039_ref20","volume-title":"Modeling, Identification and Control of Robots","author":"Khalil","year":"2002"},{"key":"S0263574714001039_ref17","volume-title":"Type Synthesis of Parallel Mechanisms","author":"Kong","year":"2007"},{"key":"S0263574714001039_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2003.820006"},{"key":"S0263574714001039_ref5","doi-asserted-by":"crossref","first-page":"258","DOI":"10.1109\/70.760347","article-title":"Cooperation control of multiple manipulators with passive joints","volume":"15","author":"Liu","year":"1999","journal-title":"IEEE Trans. Robot. Autom."},{"key":"S0263574714001039_ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2011.11.015"},{"key":"S0263574714001039_ref4","doi-asserted-by":"crossref","first-page":"141","DOI":"10.1109\/70.744609","article-title":"A single closed-loop kinematic chain approach for a hybrid control of two cooperating arms with a passive joint: An application to sawing task","volume":"15","author":"Yeo","year":"1999","journal-title":"IEEE Trans. Robot. Autom."},{"key":"S0263574714001039_ref8","first-page":"307","volume-title":"Proceedings of the International IFAC Symposium on Robot Control","author":"Long","year":"2012"},{"key":"S0263574714001039_ref13","volume-title":"Structural Synthesis of Parallel Robots: Part 1: Methodology","author":"Gogu","year":"2007"},{"key":"S0263574714001039_ref10","first-page":"496","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation, ICRA'02","author":"Zlatanov","year":"2002"},{"key":"S0263574714001039_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1988.12073"},{"key":"S0263574714001039_ref2","doi-asserted-by":"publisher","DOI":"10.1115\/1.2802344"},{"key":"S0263574714001039_ref19","first-page":"1520","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"O'Brien","year":"1999"},{"key":"S0263574714001039_ref21","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574701003307"},{"key":"S0263574714001039_ref15","volume-title":"Kinematic Geometry of Mechanisms","author":"Hunt","year":"1978"},{"key":"S0263574714001039_ref16","volume-title":"A Treatise on the Theory of Screws","author":"Ball","year":"1900"},{"key":"S0263574714001039_ref12","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574797000180"},{"key":"S0263574714001039_ref7","doi-asserted-by":"publisher","DOI":"10.1016\/S0957-4158(00)00030-1"},{"key":"S0263574714001039_ref3","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(99)00215-0"},{"key":"S0263574714001039_ref9","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574711001330"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574714001039","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,20]],"date-time":"2019-04-20T02:27:11Z","timestamp":1555727231000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574714001039\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,5,1]]},"references-count":21,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2015,11]]}},"alternative-id":["S0263574714001039"],"URL":"https:\/\/doi.org\/10.1017\/s0263574714001039","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,5,1]]}}}