{"id":"https://openalex.org/W2027457383","doi":"https://doi.org/10.1109/cec.2013.6557729","title":"Humanoid learns to detect its own hands","display_name":"Humanoid learns to detect its own hands","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W2027457383","doi":"https://doi.org/10.1109/cec.2013.6557729","mag":"2027457383"},"language":"en","primary_location":{"id":"doi:10.1109/cec.2013.6557729","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cec.2013.6557729","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE Congress on Evolutionary Computation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5023679097","display_name":"J\u00fcrgen Leitner","orcid":"https://orcid.org/0000-0003-1319-5073"},"institutions":[{"id":"https://openalex.org/I15196421","display_name":"University of Applied Sciences and Arts of Southern Switzerland","ror":"https://ror.org/05ep8g269","country_code":"CH","type":"education","lineage":["https://openalex.org/I15196421"]},{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]},{"id":"https://openalex.org/I57201433","display_name":"Universit\u00e0 della Svizzera italiana","ror":"https://ror.org/03c4atk17","country_code":"CH","type":"education","lineage":["https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jurgen Leitner","raw_affiliation_strings":["Dalle Molle Institute for Artificial Intelligence (IDSIA) ,  SUPSI, Faculty of Informatics, Universit\u00e0 della Svizzera Italiana, Manno, Switzerland","Fac. of Inf., Univ. della Svizzera Italiana (USI), Manno-Lugano, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalle Molle Institute for Artificial Intelligence (IDSIA) ,  SUPSI, Faculty of Informatics, Universit\u00e0 della Svizzera Italiana, Manno, Switzerland","institution_ids":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]},{"raw_affiliation_string":"Fac. of Inf., Univ. della Svizzera Italiana (USI), Manno-Lugano, Switzerland","institution_ids":["https://openalex.org/I57201433"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072357388","display_name":"Simon Harding","orcid":"https://orcid.org/0000-0003-4676-1158"},"institutions":[{"id":"https://openalex.org/I4210158342","display_name":"Intel (United Kingdom)","ror":"https://ror.org/058cxws58","country_code":"GB","type":"company","lineage":["https://openalex.org/I1343180700","https://openalex.org/I4210158342"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Simon Harding","raw_affiliation_strings":["Machine Intelligence Ltd, South Zeal, United Kingdom","Machine Intell. Ltd., Okehampton, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Machine Intelligence Ltd, South Zeal, United Kingdom","institution_ids":["https://openalex.org/I4210158342"]},{"raw_affiliation_string":"Machine Intell. Ltd., Okehampton, UK","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026375851","display_name":"Mikhail Frank","orcid":null},"institutions":[{"id":"https://openalex.org/I15196421","display_name":"University of Applied Sciences and Arts of Southern Switzerland","ror":"https://ror.org/05ep8g269","country_code":"CH","type":"education","lineage":["https://openalex.org/I15196421"]},{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]},{"id":"https://openalex.org/I57201433","display_name":"Universit\u00e0 della Svizzera italiana","ror":"https://ror.org/03c4atk17","country_code":"CH","type":"education","lineage":["https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Mikhail Frank","raw_affiliation_strings":["Dalle Molle Institute for Artificial Intelligence (IDSIA) ,  SUPSI, Faculty of Informatics, Universit\u00e0 della Svizzera Italiana, Manno, Switzerland","Fac. of Inf., Univ. della Svizzera Italiana (USI), Manno-Lugano, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalle Molle Institute for Artificial Intelligence (IDSIA) ,  SUPSI, Faculty of Informatics, Universit\u00e0 della Svizzera Italiana, Manno, Switzerland","institution_ids":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]},{"raw_affiliation_string":"Fac. of Inf., Univ. della Svizzera Italiana (USI), Manno-Lugano, Switzerland","institution_ids":["https://openalex.org/I57201433"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038027897","display_name":"Alexander F\u00f6rster","orcid":"https://orcid.org/0000-0003-0117-0135"},"institutions":[{"id":"https://openalex.org/I15196421","display_name":"University of Applied Sciences and Arts of Southern Switzerland","ror":"https://ror.org/05ep8g269","country_code":"CH","type":"education","lineage":["https://openalex.org/I15196421"]},{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]},{"id":"https://openalex.org/I57201433","display_name":"Universit\u00e0 della Svizzera italiana","ror":"https://ror.org/03c4atk17","country_code":"CH","type":"education","lineage":["https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alexander Forster","raw_affiliation_strings":["Dalle Molle Institute for Artificial Intelligence (IDSIA) ,  SUPSI, Faculty of Informatics, Universit\u00e0 della Svizzera Italiana, Manno, Switzerland","Fac. of Inf., Univ. della Svizzera Italiana (USI), Manno-Lugano, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalle Molle Institute for Artificial Intelligence (IDSIA) ,  SUPSI, Faculty of Informatics, Universit\u00e0 della Svizzera Italiana, Manno, Switzerland","institution_ids":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]},{"raw_affiliation_string":"Fac. of Inf., Univ. della Svizzera Italiana (USI), Manno-Lugano, Switzerland","institution_ids":["https://openalex.org/I57201433"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071172037","display_name":"J\u00fcrgen Schmidhuber","orcid":null},"institutions":[{"id":"https://openalex.org/I15196421","display_name":"University of Applied Sciences and Arts of Southern Switzerland","ror":"https://ror.org/05ep8g269","country_code":"CH","type":"education","lineage":["https://openalex.org/I15196421"]},{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]},{"id":"https://openalex.org/I57201433","display_name":"Universit\u00e0 della Svizzera italiana","ror":"https://ror.org/03c4atk17","country_code":"CH","type":"education","lineage":["https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jurgen Schmidhuber","raw_affiliation_strings":["Dalle Molle Institute for Artificial Intelligence (IDSIA) ,  SUPSI, Faculty of Informatics, Universit\u00e0 della Svizzera Italiana, Manno, Switzerland","Fac. of Inf., Univ. della Svizzera Italiana (USI), Manno-Lugano, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalle Molle Institute for Artificial Intelligence (IDSIA) ,  SUPSI, Faculty of Informatics, Universit\u00e0 della Svizzera Italiana, Manno, Switzerland","institution_ids":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]},{"raw_affiliation_string":"Fac. of Inf., Univ. della Svizzera Italiana (USI), Manno-Lugano, Switzerland","institution_ids":["https://openalex.org/I57201433"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"196","issue":null,"first_page":"1411","last_page":"1418"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.992900013923645,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9915000200271606,"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/icub","display_name":"iCub","score":0.9605104327201843},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8573591113090515},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.769073486328125},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7543636560440063},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6585341691970825},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6242313385009766},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6131777167320251},{"id":"https://openalex.org/keywords/genetic-programming","display_name":"Genetic programming","score":0.5432634353637695},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4730754792690277},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4626743197441101},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4525437355041504},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3639713525772095},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11835721135139465}],"concepts":[{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.9605104327201843},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8573591113090515},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.769073486328125},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7543636560440063},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6585341691970825},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6242313385009766},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6131777167320251},{"id":"https://openalex.org/C110332635","wikidata":"https://www.wikidata.org/wiki/Q629498","display_name":"Genetic programming","level":2,"score":0.5432634353637695},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4730754792690277},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4626743197441101},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4525437355041504},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3639713525772095},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11835721135139465},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cec.2013.6557729","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cec.2013.6557729","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE Congress on Evolutionary Computation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W101715343","https://openalex.org/W102100901","https://openalex.org/W168267010","https://openalex.org/W188595994","https://openalex.org/W1485638949","https://openalex.org/W1493310923","https://openalex.org/W1564167095","https://openalex.org/W1576818901","https://openalex.org/W1582353822","https://openalex.org/W1591085241","https://openalex.org/W1775913388","https://openalex.org/W1887763260","https://openalex.org/W1961645301","https://openalex.org/W2020671828","https://openalex.org/W2021290977","https://openalex.org/W2043547879","https://openalex.org/W2069403261","https://openalex.org/W2074772891","https://openalex.org/W2082991751","https://openalex.org/W2100208842","https://openalex.org/W2100642335","https://openalex.org/W2106291868","https://openalex.org/W2108708013","https://openalex.org/W2109553965","https://openalex.org/W2135950684","https://openalex.org/W2140818562","https://openalex.org/W2161222115","https://openalex.org/W2161406034","https://openalex.org/W2167501464","https://openalex.org/W2169811254","https://openalex.org/W2170519810","https://openalex.org/W2171613242","https://openalex.org/W2209124607","https://openalex.org/W2266062412","https://openalex.org/W2276937105","https://openalex.org/W2400198370","https://openalex.org/W3210232381","https://openalex.org/W4213333889","https://openalex.org/W4254675413","https://openalex.org/W6604157097","https://openalex.org/W6675222945","https://openalex.org/W6680771700","https://openalex.org/W6693364986","https://openalex.org/W6694630098"],"related_works":["https://openalex.org/W2963178506","https://openalex.org/W2789446524","https://openalex.org/W4301244418","https://openalex.org/W2130280438","https://openalex.org/W3123424924","https://openalex.org/W1997666700","https://openalex.org/W2915059514","https://openalex.org/W2570508284","https://openalex.org/W2198321481","https://openalex.org/W2963637864"],"abstract_inverted_index":{"Robust":[0],"object":[1],"manipulation":[2],"is":[3,30],"still":[4],"a":[5,22,35,39,100],"hard":[6],"problem":[7],"in":[8,13,90],"robotics,":[9],"even":[10],"more":[11],"so":[12,56],"high":[14],"degree-of-freedom":[15],"(DOF)":[16],"humanoid":[17,105],"robots.":[18],"To":[19],"improve":[20],"performance":[21],"closer":[23],"integration":[24],"of":[25,45],"visual":[26],"and":[27,49,63,102,111],"motor":[28],"systems":[29,69],"needed.":[31],"We":[32,96],"herein":[33],"present":[34],"novel":[36],"method":[37],"for":[38,99],"robot":[40],"to":[41,81,84],"learn":[42],"robust":[43],"detection":[44],"its":[46,59,108],"own":[47,60,109],"hands":[48,110],"fingers":[50],"enabling":[51],"sensorimotor":[52],"coordination.":[53],"It":[54],"does":[55,64],"solely":[57],"using":[58],"camera":[61],"images":[62],"not":[65],"require":[66],"any":[67],"external":[68],"or":[70],"markers.":[71],"Our":[72],"system":[73],"based":[74],"on":[75,92],"Cartesian":[76],"Genetic":[77],"Programming":[78],"(CGP)":[79],"allows":[80],"evolve":[82],"programs":[83],"perform":[85],"this":[86],"image":[87],"segmentation":[88],"task":[89],"real-time":[91],"the":[93],"real":[94],"hardware.":[95],"show":[97],"results":[98],"Nao":[101],"an":[103],"iCub":[104],"each":[106],"detecting":[107],"fingers.":[112]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}