{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,9]],"date-time":"2026-05-09T07:00:35Z","timestamp":1778310035997,"version":"3.51.4"},"reference-count":10,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2004,4,1]],"date-time":"2004-04-01T00:00:00Z","timestamp":1080777600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2004,4,1]]},"abstract":"<jats:p>WorkPartner (WP), is the prototype of a mobile centaur\u2010like service robot designed to work interactively with humans in an outdoor environment. It moves using four wheeled legs and has a human\u2010like upper body. Tasks executed by the robot are similar to those that a human can do; the robot may replace or work together with people. Mobility is based on a hybrid system, which combines the benefits of both legs and wheels to provide good terrain negotiating capability and a large velocity range on variable ground. The robot is powered by a hybrid power system with electrical actuation and energy storage in the form of gasoline. The robot is equipped with a human\u2010like two\u2010hand manipulator. The long\u2010term goal is to develop an adaptive and learning robot, which can carry tools and work interactively with humans.<\/jats:p>","DOI":"10.1108\/01439910410522883","type":"journal-article","created":{"date-parts":[[2004,2,23]],"date-time":"2004-02-23T17:53:34Z","timestamp":1077558814000},"page":"209-217","source":"Crossref","is-referenced-by-count":6,"title":["Biomimicing motion control of the WorkPartner robot"],"prefix":"10.1108","volume":"31","author":[{"given":"Aarne","family":"Halme","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tobias","family":"Luksch","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sami","family":"Yl\u00f6nen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"key":"key2022020820091130300_b1","unstructured":"Albiez, J., Luksch, T., Berns, K. and Dillman, R. (2003), \u201cA behaviour network concept for controlling walking machines\u201d, Proceedings of the International Symposium on Adaptive Motion of Animals and Machines (AMAM), March 2003, Kyoto, Japan."},{"key":"key2022020820091130300_b2","unstructured":"Arkin, R.C. (1998), Behavior\u2010Based Robotics, MIT Press, Cambridge, MA."},{"key":"key2022020820091130300_b3","unstructured":"Bayle, B., Fourquet, J.Y. and Renaud, M. (2000), \u201cA coordination strategy for mobile manipulation\u201d, 6th International, Conference on Intelligent Autonomous Systems (IAS\u20106), pp. 981\u20108."},{"key":"key2022020820091130300_b4","unstructured":"Brock, O. and Khatib, O. (1998), \u201cMobile manipulation: collision\u2010free path modification and motion coordination\u201d, Proceedings of the 2nd International Conference on Computational Engineering in Systems Applications, Vol. 4, pp. 839\u201045."},{"key":"key2022020820091130300_b5","unstructured":"Cameron, J.M., MacKenzie, D.C., Ward, K.R., Arkin, R.C. and Book, W.J. (1993), \u201cReactive control for mobile manipulation\u201d, Proceedings of 1993 IEEE International Conference on Robotics and Automation, May 1993, Atlanta, GA, Vol. 3, pp. 228\u201035."},{"key":"key2022020820091130300_b6","doi-asserted-by":"crossref","unstructured":"Connell, J.H. (1989), \u201cA behavior\u2010based arm controller\u201d, Proceedings of the 1989 IEEE Transactions on Robotics and Automation,.","DOI":"10.1109\/70.88099"},{"key":"key2022020820091130300_b7","doi-asserted-by":"crossref","unstructured":"Halme, A., Lepp\u00e4nen, I., Suomela, J., Yl\u00f6nen, S. and Kettunen, I. (2003), \u201cWorkpartner: interactive human\u2010like service robot for outdoor applications\u201d, The International Journal of Robotics Research, Vol. 22 No. 7\u20108, pp. 627\u201040.","DOI":"10.1177\/02783649030227011"},{"key":"key2022020820091130300_b8","doi-asserted-by":"crossref","unstructured":"Kolmanovsky, I. and McClamroch, N.H. (1995), \u201cDevelopments in nonholonomic control problems\u201d, IEEE Control Systems Magazine, Vol. 15, pp. 20\u201036.","DOI":"10.1109\/37.476384"},{"key":"key2022020820091130300_b9","unstructured":"MacKenzie, D.C. and Arkin, R.C. (1996), \u201cBehavior\u2010based mobile manipulation for drum sampling\u201d, Proceedings of 1996 IEEE International Conference on Robotics and Automation, Minneapolis, MN, Vol. 3, pp. 2389\u201095."},{"key":"key2022020820091130300_b10","doi-asserted-by":"crossref","unstructured":"Marteniuk, R.G. and Bertram, C.P. (2001), \u201cContributions of gait and trunk movements to prehension: perspectives from world\u2010 and body\u2010centered coordinates\u201d, Motor Control, Vol. 2, pp. 151\u201065.","DOI":"10.1123\/mcj.5.2.151"}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/01439910410522883","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910410522883\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910410522883\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T23:49:45Z","timestamp":1753400985000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/31\/2\/209-217\/177196"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2004,4,1]]},"references-count":10,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2004,4,1]]}},"alternative-id":["10.1108\/01439910410522883"],"URL":"https:\/\/doi.org\/10.1108\/01439910410522883","relation":{},"ISSN":["0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"}],"subject":[],"published":{"date-parts":[[2004,4,1]]}}}