{"id":"https://openalex.org/W2571157972","doi":"https://doi.org/10.1109/humanoids.2016.7803263","title":"Combining sensory modalities and exploratory procedures to improve haptic object recognition in robotics","display_name":"Combining sensory modalities and exploratory procedures to improve haptic object recognition in robotics","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2571157972","doi":"https://doi.org/10.1109/humanoids.2016.7803263","mag":"2571157972"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2016.7803263","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803263","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-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/A5020470786","display_name":"Bertrand Higy","orcid":"https://orcid.org/0000-0002-8198-8676"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Bertrand Higy","raw_affiliation_strings":["ICUB Facility, Istituto Italiano di Tecnologia, Genova, Italy","Universit\u00e0 di Genova, Genova"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ICUB Facility, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Universit\u00e0 di Genova, Genova","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048960946","display_name":"Carlo Ciliberto","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Carlo Ciliberto","raw_affiliation_strings":["Laboratory for Computational and Statistical Learning, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Computational and Statistical Learning, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061220999","display_name":"Lorenzo Rosasco","orcid":"https://orcid.org/0000-0003-3098-383X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Rosasco","raw_affiliation_strings":["Laboratory for Computational and Statistical Learning, Istituto Italiano di Tecnologia, Genova, Italy","Universit\u00e0 di Genova, Genova"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Computational and Statistical Learning, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Universit\u00e0 di Genova, Genova","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009034971","display_name":"Lorenzo Natale","orcid":"https://orcid.org/0000-0002-8777-5233"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Natale","raw_affiliation_strings":["ICUB Facility, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ICUB Facility, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.3455,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.80813383,"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":"117","last_page":"124"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9883999824523926,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/icub","display_name":"iCub","score":0.9787030220031738},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.7800779938697815},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7379205822944641},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7311986088752747},{"id":"https://openalex.org/keywords/stimulus-modality","display_name":"Stimulus modality","score":0.6547298431396484},{"id":"https://openalex.org/keywords/modalities","display_name":"Modalities","score":0.6348679065704346},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.6220157146453857},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.582434892654419},{"id":"https://openalex.org/keywords/sensory-system","display_name":"Sensory system","score":0.5511186718940735},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4962015748023987},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4851883053779602},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4698179066181183},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.46126702427864075},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.4401559829711914},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.41420263051986694},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.40249761939048767},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.07794183492660522}],"concepts":[{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.9787030220031738},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7800779938697815},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7379205822944641},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7311986088752747},{"id":"https://openalex.org/C26486553","wikidata":"https://www.wikidata.org/wiki/Q371870","display_name":"Stimulus modality","level":3,"score":0.6547298431396484},{"id":"https://openalex.org/C2779903281","wikidata":"https://www.wikidata.org/wiki/Q6888026","display_name":"Modalities","level":2,"score":0.6348679065704346},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.6220157146453857},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.582434892654419},{"id":"https://openalex.org/C94487597","wikidata":"https://www.wikidata.org/wiki/Q11101","display_name":"Sensory system","level":2,"score":0.5511186718940735},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4962015748023987},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4851883053779602},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4698179066181183},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.46126702427864075},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.4401559829711914},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.41420263051986694},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.40249761939048767},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.07794183492660522},{"id":"https://openalex.org/C180747234","wikidata":"https://www.wikidata.org/wiki/Q23373","display_name":"Cognitive psychology","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2016.7803263","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803263","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unige.it:11567/888647","is_oa":false,"landing_page_url":"http://hdl.handle.net/11567/888647","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.7300000190734863}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1510073064","https://openalex.org/W1969299770","https://openalex.org/W2019575783","https://openalex.org/W2046565838","https://openalex.org/W2054228171","https://openalex.org/W2062876937","https://openalex.org/W2073706923","https://openalex.org/W2075000945","https://openalex.org/W2107947143","https://openalex.org/W2114128011","https://openalex.org/W2121327667","https://openalex.org/W2137592396","https://openalex.org/W2149606722","https://openalex.org/W2158662820","https://openalex.org/W2223055204","https://openalex.org/W2415785883","https://openalex.org/W2950848445"],"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/W3106073779","https://openalex.org/W2198321481"],"abstract_inverted_index":{"In":[0],"this":[1,27],"paper":[2],"we":[3,119],"tackle":[4],"the":[5,23,32,75,134,137],"problem":[6],"of":[7,22,34,136],"object":[8,40,99,125],"recognition":[9],"using":[10],"haptic":[11,124],"feedback":[12],"from":[13,42],"a":[14,81,86,106,121],"robot":[15,139],"holding":[16],"and":[17,45,47,66,101,113],"manipulating":[18],"different":[19,35,55,67,142],"objects.":[20,56],"One":[21],"main":[24],"challenges":[25],"in":[26,105,133],"setting":[28],"is":[29],"to":[30,49,52,70,84,90],"understand":[31],"role":[33],"sensory":[36,64,93],"modalities":[37,94],"(namely":[38],"proprioception,":[39],"weight":[41],"F/T":[43],"sensors":[44],"touch)":[46],"how":[48],"combine":[50,92,103],"them":[51,104],"correctly":[53],"discriminate":[54],"We":[57,79],"investigated":[58],"these":[59],"aspects":[60],"by":[61,95],"considering":[62],"multiple":[63],"channels":[65],"exploratory":[68],"strategies":[69],"gather":[71],"meaningful":[72],"information":[73],"regarding":[74],"object's":[76],"physical":[77],"properties.":[78],"propose":[80],"novel":[82],"strategy":[83,149],"train":[85],"learning":[87,97],"machine":[88],"able":[89],"efficiently":[91],"first":[96],"individual":[98],"features":[100],"then":[102],"single":[107],"classifier.":[108],"To":[109],"evaluate":[110],"our":[111,148],"approach":[112],"compare":[114],"it":[115],"with":[116],"previous":[117,152],"methods":[118],"collected":[120],"dataset":[122],"for":[123],"recognition,":[126],"comprising":[127],"11":[128],"objects":[129],"that":[130,147],"were":[131],"held":[132],"hands":[135],"iCub":[138],"while":[140],"performing":[141],"exploration":[143],"strategies.":[144],"Results":[145],"show":[146],"consistently":[150],"outperforms":[151],"approaches":[153],"[17].":[154]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
