{"id":"https://openalex.org/W3005227403","doi":"https://doi.org/10.1109/icar46387.2019.8981663","title":"Advanced Usability Through Constrained Multi Modal Interactive Strategies: The CookieBot","display_name":"Advanced Usability Through Constrained Multi Modal Interactive Strategies: The CookieBot","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3005227403","doi":"https://doi.org/10.1109/icar46387.2019.8981663","mag":"3005227403"},"language":"en","primary_location":{"id":"doi:10.1109/icar46387.2019.8981663","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar46387.2019.8981663","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 19th International Conference on Advanced Robotics (ICAR)","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/A5066786467","display_name":"Gabriele Bolano","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Gabriele Bolano","raw_affiliation_strings":["FZI Research Center for Information Technology,Haid-und-Neu-Str. 10&#x2013;14, Karlsruhe,Germany,76131","FZI Research Center for Information Technology, Haid-und-Neu-Str. 10\u201314, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Haid-und-Neu-Str. 10&#x2013;14, Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"FZI Research Center for Information Technology, Haid-und-Neu-Str. 10\u201314, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058465800","display_name":"Pascal Becker","orcid":"https://orcid.org/0000-0003-0482-8377"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Pascal Becker","raw_affiliation_strings":["FZI Research Center for Information Technology,Haid-und-Neu-Str. 10&#x2013;14, Karlsruhe,Germany,76131","FZI Research Center for Information Technology, Haid-und-Neu-Str. 10\u201314, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Haid-und-Neu-Str. 10&#x2013;14, Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"FZI Research Center for Information Technology, Haid-und-Neu-Str. 10\u201314, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028490309","display_name":"Jacques Kaiser","orcid":"https://orcid.org/0000-0001-7487-6185"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jacques Kaiser","raw_affiliation_strings":["FZI Research Center for Information Technology,Haid-und-Neu-Str. 10&#x2013;14, Karlsruhe,Germany,76131","FZI Research Center for Information Technology, Haid-und-Neu-Str. 10\u201314, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Haid-und-Neu-Str. 10&#x2013;14, Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"FZI Research Center for Information Technology, Haid-und-Neu-Str. 10\u201314, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072884786","display_name":"Arne Roennau","orcid":"https://orcid.org/0000-0002-6090-607X"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Arne Roennau","raw_affiliation_strings":["FZI Research Center for Information Technology,Haid-und-Neu-Str. 10&#x2013;14, Karlsruhe,Germany,76131","FZI Research Center for Information Technology, Haid-und-Neu-Str. 10\u201314, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Haid-und-Neu-Str. 10&#x2013;14, Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"FZI Research Center for Information Technology, Haid-und-Neu-Str. 10\u201314, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004964717","display_name":"Ruediger Dillmann","orcid":"https://orcid.org/0000-0002-2049-8219"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ruediger Dillmann","raw_affiliation_strings":["FZI Research Center for Information Technology,Haid-und-Neu-Str. 10&#x2013;14, Karlsruhe,Germany,76131","FZI Research Center for Information Technology, Haid-und-Neu-Str. 10\u201314, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Haid-und-Neu-Str. 10&#x2013;14, Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"FZI Research Center for Information Technology, Haid-und-Neu-Str. 10\u201314, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1735,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.55746185,"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":"213","last_page":"219"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T13382","display_name":"Robotics and Automated Systems","score":0.9969000220298767,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7602697014808655},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.694028913974762},{"id":"https://openalex.org/keywords/usability","display_name":"Usability","score":0.6935445070266724},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6645921468734741},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6542525291442871},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.517880916595459},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5129084587097168},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4732939600944519},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4331090450286865},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4325818121433258},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.42374467849731445},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.41838961839675903},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3460283875465393},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2529394030570984}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7602697014808655},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.694028913974762},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.6935445070266724},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6645921468734741},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6542525291442871},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.517880916595459},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5129084587097168},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4732939600944519},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4331090450286865},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4325818121433258},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.42374467849731445},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.41838961839675903},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3460283875465393},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2529394030570984},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"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/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icar46387.2019.8981663","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar46387.2019.8981663","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 19th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W337580137","https://openalex.org/W1499929574","https://openalex.org/W1912691361","https://openalex.org/W1971270920","https://openalex.org/W1986561900","https://openalex.org/W2025635480","https://openalex.org/W2100678253","https://openalex.org/W2103489144","https://openalex.org/W2135585491","https://openalex.org/W2147842042","https://openalex.org/W2151607640","https://openalex.org/W2157725521","https://openalex.org/W2267107524","https://openalex.org/W2344023240","https://openalex.org/W2410933284","https://openalex.org/W2533912595","https://openalex.org/W2568287292","https://openalex.org/W2577026679","https://openalex.org/W2740117073","https://openalex.org/W2742521058","https://openalex.org/W2751995650","https://openalex.org/W2775416623","https://openalex.org/W2899973409","https://openalex.org/W2901136733","https://openalex.org/W2922076842","https://openalex.org/W2968311122","https://openalex.org/W3005080401","https://openalex.org/W3137166629","https://openalex.org/W6674963004","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W1979819035","https://openalex.org/W2124086581","https://openalex.org/W4210941726","https://openalex.org/W1854444597","https://openalex.org/W2139206564","https://openalex.org/W3204696515","https://openalex.org/W3016367173","https://openalex.org/W3135439126","https://openalex.org/W2818096018","https://openalex.org/W4242231179"],"abstract_inverted_index":{"Service":[0],"robots":[1],"are":[2,13],"becoming":[3],"able":[4],"to":[5,33,40,51,87,99,143,151],"perform":[6],"a":[7,70,109,115,134,153],"variety":[8],"of":[9,44,69,111,121,130,166,199],"tasks":[10],"and":[11,27,55,74,91,104,147,196],"they":[12],"currently":[14],"used":[15],"for":[16,66,133],"many":[17],"different":[18,25,128],"applications.":[19],"For":[20],"this":[21,59],"reason":[22],"people":[23,188],"with":[24,35,101,189,193],"backgrounds":[26],"also":[28,162],"without":[29],"robotic":[30],"experience":[31,191],"need":[32],"interact":[34,100,192],"them.":[36],"Enabling":[37],"the":[38,42,45,67,82,102,122,127,131,145,149,157,164,167,178,194,197,200],"user":[39,96,150],"control":[41,68,105],"motion":[43],"robot":[46,71,83,103,123,195],"end-effector,":[47],"it":[48],"is":[49,77,97,160,171],"important":[50],"provide":[52],"an":[53,63],"easy":[54],"intuitive":[56,64,138],"interface.":[57],"In":[58],"work":[60],"we":[61],"propose":[62],"method":[65],"TCP":[72],"position":[73],"orientation.":[75],"This":[76,159],"done":[78],"taking":[79],"into":[80,185],"account":[81,186],"kinematics":[84],"in":[85,156],"order":[86],"avoid":[88],"dangerous":[89],"configuration":[90],"defining":[92],"rotational":[93],"constraints.":[94],"The":[95,118],"enabled":[98],"its":[106],"end-effector":[107],"using":[108],"set":[110],"objects":[112],"tracked":[113,168],"by":[114],"camera":[116],"system.":[117],"autonomy":[119],"level":[120],"changes":[124],"depending":[125],"on":[126],"phases":[129],"interaction":[132,146],"better":[135,154],"efficiency.":[136],"An":[137],"GUI":[139],"has":[140],"been":[141],"developed":[142],"ease":[144],"help":[148],"achieve":[152],"precision":[155,198],"control.":[158],"possible":[161],"through":[163,180],"scaling":[165],"motion,":[169],"which":[170],"represented":[172],"as":[173],"visual":[174],"feedback.":[175],"We":[176],"tested":[177],"system":[179],"multiple":[181],"experiments":[182],"that":[183],"took":[184],"how":[187],"no":[190],"method.":[201]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
