{"id":"https://openalex.org/W4313563008","doi":"https://doi.org/10.1109/humanoids53995.2022.10000172","title":"Learning-Based Wiping Behavior of Low-Rigidity Robots Considering Various Surface Materials and Task Definitions","display_name":"Learning-Based Wiping Behavior of Low-Rigidity Robots Considering Various Surface Materials and Task Definitions","publication_year":2022,"publication_date":"2022-11-28","ids":{"openalex":"https://openalex.org/W4313563008","doi":"https://doi.org/10.1109/humanoids53995.2022.10000172"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids53995.2022.10000172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids53995.2022.10000172","pdf_url":null,"source":{"id":"https://openalex.org/S4363608580","display_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2403.11198","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087094940","display_name":"Kento Kawaharazuka","orcid":"https://orcid.org/0000-0002-7464-7187"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kento Kawaharazuka","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050690629","display_name":"Naoaki Kanazawa","orcid":"https://orcid.org/0009-0002-3527-3087"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Naoaki Kanazawa","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101836795","display_name":"Kei Okada","orcid":"https://orcid.org/0000-0001-6606-6692"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kei Okada","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047218430","display_name":"Masayuki Inaba","orcid":"https://orcid.org/0000-0003-1273-1567"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masayuki Inaba","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5087094940"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":1.4144,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.82802612,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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":0.9973999857902527,"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":0.996999979019165,"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/rigidity","display_name":"Rigidity (electromagnetism)","score":0.8634458184242249},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6980516910552979},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.587000846862793},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47507113218307495},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.43544524908065796},{"id":"https://openalex.org/keywords/pressing","display_name":"Pressing","score":0.42776691913604736},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4263015389442444},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4220658540725708},{"id":"https://openalex.org/keywords/flat-surface","display_name":"Flat surface","score":0.418373167514801},{"id":"https://openalex.org/keywords/contact-area","display_name":"Contact area","score":0.4154379367828369},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3575246036052704},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3117998242378235},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.22196638584136963},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19931241869926453},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.16032624244689941},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10871613025665283},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08997660875320435},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.0772099494934082}],"concepts":[{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.8634458184242249},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6980516910552979},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.587000846862793},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47507113218307495},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.43544524908065796},{"id":"https://openalex.org/C93021684","wikidata":"https://www.wikidata.org/wiki/Q3816735","display_name":"Pressing","level":2,"score":0.42776691913604736},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4263015389442444},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4220658540725708},{"id":"https://openalex.org/C3018391215","wikidata":"https://www.wikidata.org/wiki/Q2449377","display_name":"Flat surface","level":2,"score":0.418373167514801},{"id":"https://openalex.org/C33373654","wikidata":"https://www.wikidata.org/wiki/Q5164821","display_name":"Contact area","level":2,"score":0.4154379367828369},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3575246036052704},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3117998242378235},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.22196638584136963},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19931241869926453},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.16032624244689941},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10871613025665283},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08997660875320435},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0772099494934082}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids53995.2022.10000172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids53995.2022.10000172","pdf_url":null,"source":{"id":"https://openalex.org/S4363608580","display_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2403.11198","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2403.11198","pdf_url":"https://arxiv.org/pdf/2403.11198","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2403.11198","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2403.11198","pdf_url":"https://arxiv.org/pdf/2403.11198","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4313563008.pdf","grobid_xml":"https://content.openalex.org/works/W4313563008.grobid-xml"},"referenced_works_count":16,"referenced_works":["https://openalex.org/W1977576450","https://openalex.org/W2064675550","https://openalex.org/W2080542323","https://openalex.org/W2498917392","https://openalex.org/W2744653421","https://openalex.org/W2793384610","https://openalex.org/W2965291511","https://openalex.org/W3003629310","https://openalex.org/W3035861026","https://openalex.org/W3129620998","https://openalex.org/W3209102957","https://openalex.org/W4205862039","https://openalex.org/W4281293836","https://openalex.org/W4285178643","https://openalex.org/W6631190155","https://openalex.org/W6803043280"],"related_works":["https://openalex.org/W2997524176","https://openalex.org/W2742341619","https://openalex.org/W2149308902","https://openalex.org/W1484706830","https://openalex.org/W2076123197","https://openalex.org/W2505220401","https://openalex.org/W2081655754","https://openalex.org/W2769859844","https://openalex.org/W2314684575","https://openalex.org/W2093333193"],"abstract_inverted_index":{"Wiping":[0],"behavior":[1],"is":[2,23,81,111,189],"a":[3,57,91,148,163,181,200],"task":[4,209],"of":[5,9,19,67,70,117,122,151,165,173,180,191],"tracing":[6],"the":[7,14,17,20,27,33,39,47,65,68,79,86,96,99,115,118,123,170,177],"surface":[8,59,88,97,204],"an":[10],"object":[11],"while":[12],"feeling":[13],"force":[15,28,80,104,175],"with":[16,56,202],"palm":[18],"hand.":[21,40],"It":[22],"necessary":[24],"to":[25,76,85,90,133,154],"adjust":[26],"and":[29,61,102,109,135],"posture":[30,101],"appropriately":[31,195],"considering":[32],"various":[34,208],"contact":[35,174],"conditions":[36],"felt":[37],"by":[38,127,140],"Several":[41],"studies":[42,52],"have":[43,53,62,147],"been":[44],"conducted":[45],"on":[46,95,114,169,199,207],"wiping":[48,178,197],"motion,":[49],"however,":[50],"these":[51],"only":[54,63],"dealt":[55],"single":[58],"material,":[60,98],"considered":[64],"application":[66],"amount":[69],"appropriate":[71],"force,":[72],"lacking":[73],"intelligent":[74],"movements":[75,124,137],"ensure":[77],"that":[78,130,142,186],"applied":[82],"either":[83],"evenly":[84],"entire":[87],"or":[89],"certain":[92],"area.":[93],"Depending":[94],"hand":[100],"pressing":[103],"should":[105],"be":[106],"varied":[107],"appropriately,":[108],"this":[110,159],"highly":[112],"dependent":[113],"definition":[116],"task.":[119],"Also,":[120],"most":[121],"are":[125,131,138,143],"executed":[126,139],"high-rigidity":[128],"robots":[129,141],"easy":[132],"model,":[134],"few":[136],"low-rigidity":[144,182,192],"but":[145],"therefore":[146],"small":[149],"risk":[150],"damage":[152],"due":[153],"excessive":[155],"contact.":[156],"So,":[157],"in":[158],"study,":[160],"we":[161],"develop":[162],"method":[164],"motion":[166,179],"generation":[167],"based":[168,206],"learned":[171],"prediction":[172],"during":[176],"robot.":[183],"We":[184],"show":[185],"MyCobot,":[187],"which":[188],"made":[190],"resin,":[193],"can":[194],"perform":[196],"behaviors":[198],"plane":[201],"multiple":[203],"materials":[205],"definitions.":[210]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
