{"id":"https://openalex.org/W2016507181","doi":"https://doi.org/10.1109/humanoids.2014.7041482","title":"Template-based manipulation in unstructured environments for supervised semi-autonomous humanoid robots","display_name":"Template-based manipulation in unstructured environments for supervised semi-autonomous humanoid robots","publication_year":2014,"publication_date":"2014-11-01","ids":{"openalex":"https://openalex.org/W2016507181","doi":"https://doi.org/10.1109/humanoids.2014.7041482","mag":"2016507181"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2014.7041482","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041482","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","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/A5020046833","display_name":"Alberto Romay","orcid":"https://orcid.org/0000-0002-4891-7681"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alberto Romay","raw_affiliation_strings":["Department of Computer Science, TU Darmstadt, Germany","Department of Computer Science, TU, Darmstadt, Germany#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, TU Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Department of Computer Science, TU, Darmstadt, Germany#TAB#","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018000361","display_name":"Stefan Kohlbrecher","orcid":"https://orcid.org/0000-0002-8755-1512"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Kohlbrecher","raw_affiliation_strings":["Department of Computer Science, TU Darmstadt, Germany","Department of Computer Science, TU, Darmstadt, Germany#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, TU Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Department of Computer Science, TU, Darmstadt, Germany#TAB#","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049205783","display_name":"David C. Conner","orcid":null},"institutions":[{"id":"https://openalex.org/I4210124078","display_name":"Torc Robotics (United States)","ror":"https://ror.org/03233xn13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210124078"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David C. Conner","raw_affiliation_strings":["TORC Robotics, VA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TORC Robotics, VA, USA","institution_ids":["https://openalex.org/I4210124078"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053270455","display_name":"Alexander Stumpf","orcid":"https://orcid.org/0000-0002-2046-5046"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Stumpf","raw_affiliation_strings":["Department of Computer Science, TU Darmstadt, Germany","Department of Computer Science, TU, Darmstadt, Germany#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, TU Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Department of Computer Science, TU, Darmstadt, Germany#TAB#","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014799780","display_name":"Oskar von Stryk","orcid":"https://orcid.org/0000-0002-2790-6115"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oskar von Stryk","raw_affiliation_strings":["Department of Computer Science, TU Darmstadt, Germany","Department of Computer Science, TU, Darmstadt, Germany#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, TU Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Department of Computer Science, TU, Darmstadt, Germany#TAB#","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"979","last_page":"986"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/humanoid-robot","display_name":"Humanoid robot","score":0.8678831458091736},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8495826721191406},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6959625482559204},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6880154013633728},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6468822956085205},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6076527237892151},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6066318154335022},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4999845027923584},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.4336399435997009},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4129383862018585},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.40563979744911194},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36438918113708496}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8678831458091736},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8495826721191406},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6959625482559204},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6880154013633728},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6468822956085205},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6076527237892151},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6066318154335022},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4999845027923584},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.4336399435997009},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4129383862018585},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.40563979744911194},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36438918113708496},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2014.7041482","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041482","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},{"id":"pmh:oai:tubiblio.ulb.tu-darmstadt.de:98985","is_oa":false,"landing_page_url":"http://tubiblio.ulb.tu-darmstadt.de/98985/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196390","display_name":"TUbilio (Technical University of Darmstadt)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I31512782","host_organization_name":"Technische Universit\u00e4t Darmstadt","host_organization_lineage":["https://openalex.org/I31512782"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":" Konferenzver\u00f6ffentlichung"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1510186039","https://openalex.org/W1516488188","https://openalex.org/W1580568969","https://openalex.org/W1898154573","https://openalex.org/W1950970151","https://openalex.org/W1987078119","https://openalex.org/W2023758701","https://openalex.org/W2029013291","https://openalex.org/W2030929340","https://openalex.org/W2036604449","https://openalex.org/W2046742166","https://openalex.org/W2048058874","https://openalex.org/W2053120135","https://openalex.org/W2064171812","https://openalex.org/W2068127265","https://openalex.org/W2084959384","https://openalex.org/W2110264529","https://openalex.org/W2122219027","https://openalex.org/W2132905014","https://openalex.org/W2133844819","https://openalex.org/W2138398778","https://openalex.org/W2147774191","https://openalex.org/W2152864241","https://openalex.org/W2901136733","https://openalex.org/W4246967922","https://openalex.org/W6634616096","https://openalex.org/W6639706123","https://openalex.org/W6662657559","https://openalex.org/W6676824082","https://openalex.org/W6678060295","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W4315881361","https://openalex.org/W4318953217","https://openalex.org/W2543019745","https://openalex.org/W2542221445","https://openalex.org/W177694623","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2079483114"],"abstract_inverted_index":{"Humanoid":[0],"robotic":[1],"manipulation":[2,39,95],"in":[3,38,115],"unstructured":[4],"environments":[5],"is":[6],"a":[7,59],"challenging":[8],"problem.":[9],"Limited":[10],"perception,":[11],"communications":[12],"and":[13,53,86],"environmental":[14],"constraints":[15],"present":[16,41],"challenges":[17],"that":[18,62],"prevent":[19],"fully":[20],"autonomous":[21],"or":[22],"purely":[23],"teleoperated":[24],"robots":[25],"from":[26,49,89],"reliably":[27],"interacting":[28],"with":[29],"their":[30],"environment.":[31],"In":[32],"order":[33],"to":[34,66,101],"achieve":[35],"higher":[36],"reliability":[37],"we":[40,106],"an":[42,72],"approach":[43,96],"involving":[44],"remote":[45,69],"human":[46,51],"supervision.":[47],"Strengths":[48],"both":[50],"operator":[52,65],"humanoid":[54,104],"robot":[55,81],"are":[56],"leveraged":[57],"through":[58,71],"user":[60],"interface":[61],"allows":[63],"the":[64,68,80,90,102,112,116],"perceive":[67],"environment":[70],"aggregated":[73],"worldmodel":[74],"based":[75,94],"on":[76],"onboard":[77],"sensing,":[78],"while":[79],"can":[82],"efficiently":[83],"receive":[84],"perceptual":[85],"semantic":[87],"information":[88],"operator.":[91],"A":[92],"template":[93],"has":[97],"been":[98],"successfully":[99],"applied":[100],"Atlas":[103],"robot;":[105],"show":[107],"real":[108],"world":[109],"footage":[110],"of":[111],"results":[113],"obtained":[114],"DARPA":[117],"Robotics":[118],"Challenge":[119],"Trials":[120],"2013.":[121]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
