{"id":"https://openalex.org/W1566423514","doi":"https://doi.org/10.1007/978-3-642-32060-6_5","title":"Towards Robust Mobility, Flexible Object Manipulation, and Intuitive Multimodal Interaction for Domestic Service Robots","display_name":"Towards Robust Mobility, Flexible Object Manipulation, and Intuitive Multimodal Interaction for Domestic Service Robots","publication_year":2012,"publication_date":"2012-01-01","ids":{"openalex":"https://openalex.org/W1566423514","doi":"https://doi.org/10.1007/978-3-642-32060-6_5","mag":"1566423514"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-642-32060-6_5","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-642-32060-6_5","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},"type":"book-chapter","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113699486","display_name":"J\u00f6rg St\u00fcckler","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"J\u00f6rg St\u00fcckler","raw_affiliation_strings":["Computer Science Institute VI: Autonomous Intelligent Systems, Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Friedrich-Ebert-Allee 144, 53113, Bonn, Germany","Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Computer Science Institute VI: Autonomous Intelligent Systems, Bonn, Germany#TAB#"],"affiliations":[{"raw_affiliation_string":"Computer Science Institute VI: Autonomous Intelligent Systems, Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Friedrich-Ebert-Allee 144, 53113, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Computer Science Institute VI: Autonomous Intelligent Systems, Bonn, Germany#TAB#","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004109591","display_name":"David Droeschel","orcid":"https://orcid.org/0000-0003-4047-6559"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"David Droeschel","raw_affiliation_strings":["Computer Science Institute VI: Autonomous Intelligent Systems, Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Friedrich-Ebert-Allee 144, 53113, Bonn, Germany","Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Computer Science Institute VI: Autonomous Intelligent Systems, Bonn, Germany#TAB#"],"affiliations":[{"raw_affiliation_string":"Computer Science Institute VI: Autonomous Intelligent Systems, Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Friedrich-Ebert-Allee 144, 53113, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Computer Science Institute VI: Autonomous Intelligent Systems, Bonn, Germany#TAB#","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010320027","display_name":"Kathrin Gr\u00e4ve","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kathrin Gr\u00e4ve","raw_affiliation_strings":["Computer Science Institute VI: Autonomous Intelligent Systems, Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Friedrich-Ebert-Allee 144, 53113, Bonn, Germany","Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Computer Science Institute VI: Autonomous Intelligent Systems, Bonn, Germany#TAB#"],"affiliations":[{"raw_affiliation_string":"Computer Science Institute VI: Autonomous Intelligent Systems, Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Friedrich-Ebert-Allee 144, 53113, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Computer Science Institute VI: Autonomous Intelligent Systems, Bonn, Germany#TAB#","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003730523","display_name":"Dirk Holz","orcid":"https://orcid.org/0000-0002-9525-5430"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk Holz","raw_affiliation_strings":["Computer Science Institute VI: Autonomous Intelligent Systems, Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Friedrich-Ebert-Allee 144, 53113, Bonn, Germany","Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Computer Science Institute VI: Autonomous Intelligent Systems, Bonn, Germany#TAB#"],"affiliations":[{"raw_affiliation_string":"Computer Science Institute VI: Autonomous Intelligent Systems, Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Friedrich-Ebert-Allee 144, 53113, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Computer Science Institute VI: Autonomous Intelligent Systems, Bonn, Germany#TAB#","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085355030","display_name":"Jochen Kl\u00e4\u00df","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jochen Kl\u00e4\u00df","raw_affiliation_strings":["Computer Science Institute VI: Autonomous Intelligent Systems, Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Friedrich-Ebert-Allee 144, 53113, Bonn, Germany","Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Computer Science Institute VI: Autonomous Intelligent Systems, Bonn, Germany#TAB#"],"affiliations":[{"raw_affiliation_string":"Computer Science Institute VI: Autonomous Intelligent Systems, Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Friedrich-Ebert-Allee 144, 53113, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Computer Science Institute VI: Autonomous Intelligent Systems, Bonn, Germany#TAB#","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072774427","display_name":"Michael Schreiber","orcid":"https://orcid.org/0000-0003-2228-9258"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Schreiber","raw_affiliation_strings":["Computer Science Institute VI: Autonomous Intelligent Systems, Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Friedrich-Ebert-Allee 144, 53113, Bonn, Germany","Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Computer Science Institute VI: Autonomous Intelligent Systems, Bonn, Germany#TAB#"],"affiliations":[{"raw_affiliation_string":"Computer Science Institute VI: Autonomous Intelligent Systems, Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Friedrich-Ebert-Allee 144, 53113, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Computer Science Institute VI: Autonomous Intelligent Systems, Bonn, Germany#TAB#","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062566433","display_name":"Ricarda Steffens","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ricarda Steffens","raw_affiliation_strings":["Computer Science Institute VI: Autonomous Intelligent Systems, Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Friedrich-Ebert-Allee 144, 53113, Bonn, Germany","Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Computer Science Institute VI: Autonomous Intelligent Systems, Bonn, Germany#TAB#"],"affiliations":[{"raw_affiliation_string":"Computer Science Institute VI: Autonomous Intelligent Systems, Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Friedrich-Ebert-Allee 144, 53113, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Computer Science Institute VI: Autonomous Intelligent Systems, Bonn, Germany#TAB#","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027761977","display_name":"Sven Behnke","orcid":"https://orcid.org/0000-0002-5040-7525"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sven Behnke","raw_affiliation_strings":["Computer Science Institute VI: Autonomous Intelligent Systems, Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Friedrich-Ebert-Allee 144, 53113, Bonn, Germany","Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Computer Science Institute VI: Autonomous Intelligent Systems, Bonn, Germany#TAB#"],"affiliations":[{"raw_affiliation_string":"Computer Science Institute VI: Autonomous Intelligent Systems, Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Friedrich-Ebert-Allee 144, 53113, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn, Computer Science Institute VI: Autonomous Intelligent Systems, Bonn, Germany#TAB#","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5113699486"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":{"value":5000,"currency":"EUR","value_usd":5392},"apc_paid":null,"fwci":1.1907,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.86199343,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"51","last_page":"62"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8103997707366943},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7419019937515259},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6889691352844238},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.602800726890564},{"id":"https://openalex.org/keywords/service-robot","display_name":"Service robot","score":0.5948886871337891},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5685924291610718},{"id":"https://openalex.org/keywords/service","display_name":"Service (business)","score":0.5213381052017212},{"id":"https://openalex.org/keywords/league","display_name":"League","score":0.46041139960289},{"id":"https://openalex.org/keywords/table","display_name":"Table (database)","score":0.4489091634750366},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3876950740814209},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.1448727250099182}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8103997707366943},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7419019937515259},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6889691352844238},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.602800726890564},{"id":"https://openalex.org/C2776228582","wikidata":"https://www.wikidata.org/wiki/Q7455797","display_name":"Service robot","level":3,"score":0.5948886871337891},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5685924291610718},{"id":"https://openalex.org/C2780378061","wikidata":"https://www.wikidata.org/wiki/Q25351891","display_name":"Service (business)","level":2,"score":0.5213381052017212},{"id":"https://openalex.org/C207456731","wikidata":"https://www.wikidata.org/wiki/Q660818","display_name":"League","level":2,"score":0.46041139960289},{"id":"https://openalex.org/C45235069","wikidata":"https://www.wikidata.org/wiki/Q278425","display_name":"Table (database)","level":2,"score":0.4489091634750366},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3876950740814209},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.1448727250099182},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.0},{"id":"https://openalex.org/C136264566","wikidata":"https://www.wikidata.org/wiki/Q159810","display_name":"Economy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1007/978-3-642-32060-6_5","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-642-32060-6_5","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.307.2094","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.307.2094","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ais.uni-bonn.de/nimbro/@Home/papers/RC11_Home_Winner.pdf","raw_type":"text"},{"id":"pmh:oai:uni-augsburg.opus-bayern.de:109001","is_oa":false,"landing_page_url":"https://opus.bibliothek.uni-augsburg.de/opus4/frontdoor/index/index/docId/109001","pdf_url":null,"source":{"id":"https://openalex.org/S4306400930","display_name":"OPUS (Augsburg University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I119916105","host_organization_name":"Augsburg University","host_organization_lineage":["https://openalex.org/I119916105"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.4099999964237213,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1528125638","https://openalex.org/W1637459849","https://openalex.org/W2039918963","https://openalex.org/W2049981393","https://openalex.org/W2053766922","https://openalex.org/W2071008727","https://openalex.org/W2085261163","https://openalex.org/W2101797103","https://openalex.org/W2130422193","https://openalex.org/W2146890456","https://openalex.org/W2151234635","https://openalex.org/W2159711224","https://openalex.org/W2159901825","https://openalex.org/W2174829817","https://openalex.org/W2296180239"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2059402478","https://openalex.org/W2161273941","https://openalex.org/W2109596994","https://openalex.org/W2014498449","https://openalex.org/W2025208083","https://openalex.org/W4323870231"],"abstract_inverted_index":null,"counts_by_year":[{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":4},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}