{"id":"https://openalex.org/W2553905543","doi":"https://doi.org/10.1109/coase.2016.7743460","title":"Robotic bimanual cleaning of deformable objects with online learning of part and tool models","display_name":"Robotic bimanual cleaning of deformable objects with online learning of part and tool models","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2553905543","doi":"https://doi.org/10.1109/coase.2016.7743460","mag":"2553905543"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2016.7743460","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2016.7743460","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Automation Science and Engineering (CASE)","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/A5057119296","display_name":"Joshua D. Langsfeld","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joshua D. Langsfeld","raw_affiliation_strings":["Maryland Robotics Center, University of Maryland, College Park, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Maryland Robotics Center, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058050105","display_name":"Ariyan M. Kabir","orcid":"https://orcid.org/0000-0003-1514-3664"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ariyan M. Kabir","raw_affiliation_strings":["Maryland Robotics Center, University of Maryland, College Park, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Maryland Robotics Center, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032983456","display_name":"Krishnanand N. Kaipa","orcid":"https://orcid.org/0000-0002-8095-938X"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Krishnanand N. Kaipa","raw_affiliation_strings":["Maryland Robotics Center, University of Maryland, College Park, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Maryland Robotics Center, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083094281","display_name":"Satyandra K. Gupta","orcid":"https://orcid.org/0000-0002-6025-7903"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Satyandra K. Gupta","raw_affiliation_strings":["Aerospace and Mechanical Engineering Department, University of Southern California, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace and Mechanical Engineering Department, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"626","last_page":"632"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9930999875068665,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9904999732971191,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8702939748764038},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7584303617477417},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7090354561805725},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6444761753082275},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5905617475509644},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5521784424781799},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4896588921546936},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.4815123975276947},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.47566503286361694},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33649393916130066},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16814705729484558}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8702939748764038},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7584303617477417},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7090354561805725},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6444761753082275},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5905617475509644},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5521784424781799},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4896588921546936},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4815123975276947},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.47566503286361694},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33649393916130066},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16814705729484558},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2016.7743460","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2016.7743460","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W131961952","https://openalex.org/W1523913499","https://openalex.org/W1578281517","https://openalex.org/W1647016498","https://openalex.org/W1746819321","https://openalex.org/W1969865247","https://openalex.org/W1973102501","https://openalex.org/W1984148980","https://openalex.org/W2002866048","https://openalex.org/W2019223072","https://openalex.org/W2045448547","https://openalex.org/W2047712552","https://openalex.org/W2048503610","https://openalex.org/W2061490590","https://openalex.org/W2080542323","https://openalex.org/W2095511177","https://openalex.org/W2110070888","https://openalex.org/W2130863572","https://openalex.org/W2138207036","https://openalex.org/W2524492950","https://openalex.org/W2525854792","https://openalex.org/W4211049957","https://openalex.org/W6727503724"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W930597035","https://openalex.org/W2219666539"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"an":[5,44,116],"approach":[6],"to":[7,31,114,134,155],"perform":[8],"automatic":[9],"robotic":[10],"cleaning":[11,39,65,78],"of":[12,47,51,76,84,95,109,119,126,140],"deformable":[13],"objects":[14],"with":[15,56,97,142],"unknown":[16],"stiffness":[17],"characteristics.":[18],"A":[19],"bimanual":[20],"robot":[21,42,72,104],"setup":[22],"is":[23,82,132],"used,":[24],"where":[25],"one":[26],"arm":[27],"holds":[28,37],"the":[29,35,38,48,60,71,77,85,103,110,124,130,137,148,157],"part":[30,53,87,111],"be":[32,90,152],"cleaned,":[33],"while":[34],"other":[36],"tool.":[40],"The":[41],"maintains":[43,73],"approximate":[45,143],"model":[46,61,75,139,150],"deformation":[49,112,138],"behavior":[50,113],"each":[52,101],"it":[54,63],"interacts":[55],"and":[57,88,146,161],"incrementally":[58,135],"improves":[59],"as":[62],"performs":[64],"attempts,":[66],"thereby":[67],"gaining":[68],"information.":[69],"Simultaneously,":[70],"a":[74],"tool":[79,162],"performance":[80],"which":[81],"independent":[83],"particular":[86],"can":[89,151],"learned":[91],"over":[92],"multiple":[93],"episodes":[94],"interaction":[96],"different":[98],"parts.":[99],"During":[100],"attempt,":[102],"exploits":[105],"its":[106],"current":[107],"knowledge":[108],"select":[115,156],"optimal":[117],"set":[118],"grasp":[120,159],"locations":[121,160],"that":[122,147],"minimize":[123],"amount":[125],"deformation.":[127],"Results":[128],"indicate":[129],"system":[131],"able":[133],"learn":[136],"parts":[141],"linear":[144],"geometry":[145],"improving":[149],"quickly":[153],"used":[154],"correct":[158],"parameters":[163],"for":[164],"rapid":[165],"cleaning.":[166]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}