{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T02:09:05Z","timestamp":1740103745739,"version":"3.37.3"},"reference-count":43,"publisher":"Wiley","license":[{"start":{"date-parts":[[2020,11,16]],"date-time":"2020-11-16T00:00:00Z","timestamp":1605484800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Sciences Research Council","doi-asserted-by":"publisher","award":["EP\/S001913"],"award-info":[{"award-number":["EP\/S001913"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Complexity"],"published-print":{"date-parts":[[2020,11,16]]},"abstract":"<jats:p>Bimanual robots have been studied for decades and regulation on internal force of the being held object by two manipulators becomes a research interest in recent years. In this paper, based on impedance model, a method to obtain the optimal target position for bimanual robots to hold an object is proposed. We introduce a cost function combining the errors of the force and the position and manage to minimize its value to gain the optimal coordinates for the robot end effectors (EE). To implement this method, two necessary algorithms are presented, which are the closed-loop inverse kinematics (CLIK) method to work out joint positions from desired EE pose and the generalized-momentum-based external force observer to measure the subjected force acting on the EE so as to properly compensate for the joint torques. To verify the effectiveness, practicality, and adaptivity of the proposed scheme, in the simulation, a bimanual robot system with three degrees of freedom (DOF) in every manipulator was constructed and employed to hold an object, where the results are satisfactory.<\/jats:p>","DOI":"10.1155\/2020\/3561807","type":"journal-article","created":{"date-parts":[[2020,11,17]],"date-time":"2020-11-17T21:50:19Z","timestamp":1605649819000},"page":"1-13","source":"Crossref","is-referenced-by-count":6,"title":["Impedance Model-Based Optimal Regulation on Force and Position of Bimanual Robots to Hold an Object"],"prefix":"10.1155","volume":"2020","author":[{"given":"Darong","family":"Huang","sequence":"first","affiliation":[{"name":"Key Laboratory of Autonomous Systems and Networked Control, School of Automation Science and Engineering, South China University of Technology, Guangzhou 510641, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hong","family":"Zhan","sequence":"additional","affiliation":[{"name":"Key Laboratory of Autonomous Systems and Networked Control, School of Automation Science and Engineering, South China University of Technology, Guangzhou 510641, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5255-5559","authenticated-orcid":true,"given":"Chenguang","family":"Yang","sequence":"additional","affiliation":[{"name":"Bristol Robotics Laboratory, University of the West of England, Bristol BS16 1QY, London, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1007\/s11042-019-08302-9"},{"article-title":"Towards precise robotic grasping by probabilistic post-grasp displacement estimation","year":"2019","author":"J. Zhao","key":"2"},{"key":"3","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2011.2162271"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2016.7803358"},{"key":"5","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509439"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2020.2972837"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.14569\/IJARAI.2015.040402"},{"key":"8","doi-asserted-by":"publisher","DOI":"10.1109\/ICIInfS.2012.6304778"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.1007\/978-981-15-0474-7_101"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.3390\/app9050924"},{"key":"11","doi-asserted-by":"publisher","DOI":"10.1145\/3150225"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2019.2895509"},{"key":"13","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2016.2612646"},{"key":"14","doi-asserted-by":"publisher","DOI":"10.1051\/matecconf\/201815302004"},{"issue":"3","key":"15","article-title":"A review study on humanoid robot SOPHIA based on artificial intelligence","volume":"4","author":"H. K. Kalra","year":"2018","journal-title":"International Journal of Technology and Computing (IJTC). Techlive Solutions"},{"key":"16","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2009.2034073"},{"key":"17","doi-asserted-by":"publisher","DOI":"10.1109\/tsmcb.2008.2007810"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-015-2070-9"},{"key":"19","doi-asserted-by":"publisher","DOI":"10.1109\/tie.2019.2907446"},{"key":"20","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2020.2973099"},{"key":"21","doi-asserted-by":"publisher","DOI":"10.1108\/aa-12-2017-171"},{"key":"22","doi-asserted-by":"publisher","DOI":"10.1109\/tfuzz.2018.2878201"},{"key":"23","doi-asserted-by":"publisher","DOI":"10.1109\/tmech.2014.2375638"},{"key":"24","doi-asserted-by":"publisher","DOI":"10.1109\/cdc.2004.1430212"},{"key":"25","doi-asserted-by":"publisher","DOI":"10.1177\/0278364905056347"},{"key":"26","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2012.05.049"},{"key":"27","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1994.351417"},{"key":"28","doi-asserted-by":"publisher","DOI":"10.1109\/tcyb.2014.2357896"},{"key":"29","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2012.06.096"},{"key":"30","doi-asserted-by":"publisher","DOI":"10.1080\/00207179.2013.827799"},{"article-title":"On robotic assembly using contact force control and estimation","year":"2015","author":"A. Stolt","key":"31"},{"key":"32","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2003.1241665"},{"key":"33","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2019.2912781"},{"key":"34","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2018.2828654"},{"key":"35","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2015.09.694"},{"key":"36","doi-asserted-by":"publisher","DOI":"10.1109\/CoASE.2015.7294266"},{"key":"37","doi-asserted-by":"publisher","DOI":"10.1017\/s0263574700000096"},{"key":"38","doi-asserted-by":"publisher","DOI":"10.1177\/027836499101000409"},{"key":"39","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2011.2135210"},{"key":"40","doi-asserted-by":"publisher","DOI":"10.3390\/robotics7010007"},{"volume-title":"Optimal Control","year":"1995","author":"F. L. Lewis","key":"41"},{"key":"42","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-319-32552-1","volume-title":"Springer Handbook of Robotics","author":"B. Siciliano","year":"2016"},{"volume-title":"Introduction to Robotics: Mechanics and Control","year":"2009","author":"J. J. Craig","key":"43"}],"container-title":["Complexity"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2020\/3561807.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2020\/3561807.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2020\/3561807.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,11,17]],"date-time":"2020-11-17T21:50:22Z","timestamp":1605649822000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.hindawi.com\/journals\/complexity\/2020\/3561807\/"}},"subtitle":[],"editor":[{"given":"Juan","family":"Sandoval","sequence":"additional","affiliation":[],"role":[{"role":"editor","vocabulary":"crossref"}]}],"short-title":[],"issued":{"date-parts":[[2020,11,16]]},"references-count":43,"alternative-id":["3561807","3561807"],"URL":"https:\/\/doi.org\/10.1155\/2020\/3561807","relation":{},"ISSN":["1099-0526","1076-2787"],"issn-type":[{"type":"electronic","value":"1099-0526"},{"type":"print","value":"1076-2787"}],"subject":[],"published":{"date-parts":[[2020,11,16]]}}}