# A Software Architecture for Service Robots Manipulating Objects in Human Environments

> Research article (IEEE Access, 2020) · cited 20× · AI/ML

**Wikidata**: [openalex:W3035991693](https://www.wikidata.org/wiki/openalex:W3035991693)  
**Source**: https://4ort.xyz/entity/a-software-architecture-for-service-robots-manipulating-objects-in-human-environments