{"id":"https://openalex.org/W2912493253","doi":"https://doi.org/10.1109/humanoids.2018.8625035","title":"Humanoid Robot Grasping with a Soft Gripper Through a Learned Inverse Model of a Central Pattern Generator and Tactile Servoing","display_name":"Humanoid Robot Grasping with a Soft Gripper Through a Learned Inverse Model of a Central Pattern Generator and Tactile Servoing","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2912493253","doi":"https://doi.org/10.1109/humanoids.2018.8625035","mag":"2912493253"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2018.8625035","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8625035","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE-RAS 18th 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/A5019678142","display_name":"Yuxiang Pan","orcid":"https://orcid.org/0000-0003-1016-2065"},"institutions":[{"id":"https://openalex.org/I2610724","display_name":"Chemnitz University of Technology","ror":"https://ror.org/00a208s56","country_code":"DE","type":"education","lineage":["https://openalex.org/I2610724"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Yuxiang Pan","raw_affiliation_strings":["Artificial Intelligence, University of Technology, Chemnitz, Germany"],"affiliations":[{"raw_affiliation_string":"Artificial Intelligence, University of Technology, Chemnitz, Germany","institution_ids":["https://openalex.org/I2610724"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089469300","display_name":"Fred H. Hamker","orcid":"https://orcid.org/0000-0001-9104-7143"},"institutions":[{"id":"https://openalex.org/I2610724","display_name":"Chemnitz University of Technology","ror":"https://ror.org/00a208s56","country_code":"DE","type":"education","lineage":["https://openalex.org/I2610724"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Fred Hamker","raw_affiliation_strings":["Artificial Intelligence, University of Technology, Chemnitz, Germany"],"affiliations":[{"raw_affiliation_string":"Artificial Intelligence, University of Technology, Chemnitz, Germany","institution_ids":["https://openalex.org/I2610724"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004620662","display_name":"John Nassour","orcid":"https://orcid.org/0000-0002-7208-1271"},"institutions":[{"id":"https://openalex.org/I2610724","display_name":"Chemnitz University of Technology","ror":"https://ror.org/00a208s56","country_code":"DE","type":"education","lineage":["https://openalex.org/I2610724"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"John Nassour","raw_affiliation_strings":["Artificial Intelligence, University of Technology, Chemnitz, Germany"],"affiliations":[{"raw_affiliation_string":"Artificial Intelligence, University of Technology, Chemnitz, Germany","institution_ids":["https://openalex.org/I2610724"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5019678142"],"corresponding_institution_ids":["https://openalex.org/I2610724"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.20615426,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"9"},"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":0.9977999925613403,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9922999739646912,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6504494547843933},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6056272983551025},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5904566049575806},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5656834840774536},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.47994473576545715},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45873916149139404},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.44575217366218567},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.4429532289505005},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4378291368484497},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.4347856342792511},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4313982129096985},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4115681052207947},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3870666027069092},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26469287276268005},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0770861804485321}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6504494547843933},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6056272983551025},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5904566049575806},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5656834840774536},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.47994473576545715},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45873916149139404},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.44575217366218567},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.4429532289505005},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4378291368484497},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.4347856342792511},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4313982129096985},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4115681052207947},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3870666027069092},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26469287276268005},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0770861804485321},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2018.8625035","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8625035","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","score":0.5400000214576721,"display_name":"Quality Education"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W164150388","https://openalex.org/W1573060137","https://openalex.org/W2011713535","https://openalex.org/W2060577328","https://openalex.org/W2160609165","https://openalex.org/W2410061664","https://openalex.org/W2782245754","https://openalex.org/W2819245054","https://openalex.org/W2962736495","https://openalex.org/W6606605448"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W2962851396","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W2786331404","https://openalex.org/W1996912299"],"abstract_inverted_index":{"Grasping":[0],"and":[1,24,107,150],"manipulation":[2],"are":[3],"essential":[4],"skills":[5],"that":[6,51],"humanoid":[7,87],"robots":[8],"need":[9],"in":[10,14,148],"order":[11,28],"to":[12,40,68,77,85,136,162,175],"operate":[13],"the":[15,53,70,95,116,121,138,152,176,184],"human":[16,166],"environment.":[17],"Model-based":[18],"methods":[19],"require":[20,35,56],"a":[21,36,74,81,86,103,110,124,156,165,179],"precise":[22],"calibration":[23,38],"suffer":[25,46],"from":[26,47],"high":[27,48],"non-linearity.":[29],"While,":[30],"neural-based":[31],"representations":[32],"does":[33],"not":[34],"dedicated":[37],"process":[39],"solve":[41],"these":[42],"tasks.":[43],"However,":[44],"some":[45],"generalization":[49,117],"error":[50,118],"reduces":[52],"accuracy":[54],"or":[55],"large-scale":[57],"data":[58],"collection.":[59],"The":[60,90,131,142],"role":[61],"of":[62,94,102,178],"sensory":[63,158,185],"feedback":[64],"is":[65,97,134],"therefore":[66],"important":[67],"adapt":[69],"action.":[71],"We":[72],"present":[73],"control":[75],"framework":[76],"learn":[78],"grasping":[79,171],"with":[80,123,164,183],"soft":[82,157],"gripper":[83,122,159],"attached":[84],"robot":[88,154],"arm.":[89],"inverse":[91,181],"kinematic":[92],"model":[93,144,182],"arm":[96],"acquired":[98],"through":[99],"motor":[100],"babbling":[101],"central":[104],"pattern":[105],"generator":[106],"encoded":[108],"by":[109],"feed-forward":[111],"neural":[112],"network.":[113],"To":[114],"overcome":[115],"we":[119],"provide":[120],"tactile":[125,132],"sensors":[126],"array":[127],"at":[128],"each":[129],"finger.":[130],"servoing":[133],"used":[135,161],"correct":[137],"action":[139],"before":[140],"grasping.":[141],"proposed":[143],"has":[145],"been":[146],"tested":[147],"simulation,":[149],"on":[151],"real":[153],"where":[155],"was":[160,172],"interact":[163],"subject":[167],"(Tactile":[168],"Servoing).":[169],"Successful":[170],"achieved":[173],"thanks":[174],"integration":[177],"learned":[180],"feedback.":[186]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}