{"id":"https://openalex.org/W2170366957","doi":"https://doi.org/10.1017/s0263574704000918","title":"Recognizing object surface properties using impedance perception","display_name":"Recognizing object surface properties using impedance perception","publication_year":2005,"publication_date":"2005-04-27","ids":{"openalex":"https://openalex.org/W2170366957","doi":"https://doi.org/10.1017/s0263574704000918","mag":"2170366957"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574704000918","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574704000918","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","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/A5057532710","display_name":"Ryo Kikuuwe","orcid":"https://orcid.org/0000-0002-1500-6777"},"institutions":[{"id":"https://openalex.org/I197274945","display_name":"Nagoya Institute of Technology","ror":"https://ror.org/055yf1005","country_code":"JP","type":"education","lineage":["https://openalex.org/I197274945"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryo Kikuuwe","raw_affiliation_strings":["Dept. of Mechanical Engineering, Nagoya Institute of Technology, Nagoya, 466-8555 (Japan). E-mail:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, Nagoya Institute of Technology, Nagoya, 466-8555 (Japan). E-mail:","institution_ids":["https://openalex.org/I197274945"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102278010","display_name":"Tsuneo Yoshikawa","orcid":null},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tsuneo Yoshikawa","raw_affiliation_strings":["Dept. of Mechanical Engineering, Kyoto University, Kyoto, 606-8501 (Japan). E-mail:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, Kyoto University, Kyoto, 606-8501 (Japan). E-mail:","institution_ids":["https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.15706371,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"23","issue":"3","first_page":"387","last_page":"396"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/stiffness","display_name":"Stiffness","score":0.6449069976806641},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6377491354942322},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6141524314880371},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.6124448180198669},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5873538255691528},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5856990218162537},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.573390543460846},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5302075147628784},{"id":"https://openalex.org/keywords/impedance-parameters","display_name":"Impedance parameters","score":0.5242334008216858},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5183828473091125},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.4704778790473938},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.4620901942253113},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4540468454360962},{"id":"https://openalex.org/keywords/relation","display_name":"Relation (database)","score":0.43928593397140503},{"id":"https://openalex.org/keywords/stiffness-matrix","display_name":"Stiffness matrix","score":0.4333624243736267},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.42788249254226685},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27654436230659485},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2497064173221588},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14362266659736633},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.12615206837654114},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1102629005908966},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.07910463213920593}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6449069976806641},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6377491354942322},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6141524314880371},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.6124448180198669},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5873538255691528},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5856990218162537},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.573390543460846},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5302075147628784},{"id":"https://openalex.org/C113805353","wikidata":"https://www.wikidata.org/wiki/Q13424600","display_name":"Impedance parameters","level":3,"score":0.5242334008216858},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5183828473091125},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.4704778790473938},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.4620901942253113},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4540468454360962},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.43928593397140503},{"id":"https://openalex.org/C14198674","wikidata":"https://www.wikidata.org/wiki/Q3851930","display_name":"Stiffness matrix","level":3,"score":0.4333624243736267},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.42788249254226685},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27654436230659485},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2497064173221588},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14362266659736633},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.12615206837654114},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1102629005908966},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.07910463213920593},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574704000918","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574704000918","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1682837476","https://openalex.org/W1837533429","https://openalex.org/W1917485949","https://openalex.org/W1978496658","https://openalex.org/W1989292575","https://openalex.org/W2009714304","https://openalex.org/W2037799522","https://openalex.org/W2051704147","https://openalex.org/W2119853207","https://openalex.org/W2126597475","https://openalex.org/W2129867022","https://openalex.org/W2134093392","https://openalex.org/W2137907155","https://openalex.org/W2157332596","https://openalex.org/W2157630536","https://openalex.org/W2161281315"],"related_works":["https://openalex.org/W3191493856","https://openalex.org/W2059740384","https://openalex.org/W1984186897","https://openalex.org/W2020738586","https://openalex.org/W4200095173","https://openalex.org/W4319314993","https://openalex.org/W2057538835","https://openalex.org/W2229463931","https://openalex.org/W2120432017","https://openalex.org/W2216905634"],"abstract_inverted_index":{"By":[0],"using":[1],"the":[2,10,15,43,47,52,71],"impedance":[3],"perception":[4],"algorithm,":[5],"which":[6],"we":[7,29],"previously":[8],"proposed,":[9],"stiffness":[11,44],"matrix":[12,45],"that":[13],"constrains":[14],"motion-force":[16],"relation":[17],"of":[18,32,39,63,93],"a":[19],"robot's":[20],"end-effector":[21,48],"is":[22,49],"calculated":[23],"in":[24],"real-time.":[25],"In":[26],"this":[27],"paper,":[28],"describe":[30],"methods":[31,73],"extracting":[33],"information":[34],"concerning":[35],"certain":[36],"local":[37],"properties":[38],"object":[40],"surfaces":[41],"from":[42,77],"when":[46],"slid":[50],"on":[51],"surfaces.":[53,69],"We":[54],"develop":[55],"two":[56,61],"algorithms":[57],"to":[58],"deal":[59],"with":[60],"classes":[62],"surfaces:":[64],"flat":[65],"and":[66,87],"convex":[67],"cylindrical":[68],"Since":[70],"proposed":[72],"are":[74,96],"designed":[75],"separately":[76],"control":[78],"strategies,":[79],"they":[80],"can":[81],"be":[82],"used":[83],"for":[84],"both":[85],"autonomous":[86],"remote":[88],"controlled":[89],"robots.":[90],"The":[91],"results":[92],"preliminary":[94],"experiments":[95],"presented.":[97]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
