{"id":"https://openalex.org/W2132602743","doi":"https://doi.org/10.1109/ichr.2009.5379566","title":"Autonomous acquisition of pushing actions to support object grasping with a humanoid robot","display_name":"Autonomous acquisition of pushing actions to support object grasping with a humanoid robot","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2132602743","doi":"https://doi.org/10.1109/ichr.2009.5379566","mag":"2132602743"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2009.5379566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2009.5379566","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 9th IEEE-RAS International Conference on Humanoid Robots","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/A5068614498","display_name":"Damir Omr\u010den","orcid":null},"institutions":[{"id":"https://openalex.org/I3006985408","display_name":"Jo\u017eef Stefan Institute","ror":"https://ror.org/05060sz93","country_code":"SI","type":"facility","lineage":["https://openalex.org/I3006985408"]}],"countries":["SI"],"is_corresponding":true,"raw_author_name":"Damir Omrcen","raw_affiliation_strings":["Jo\u017eef Stefan Institute, Slovenia","Jo\u00bfef Stefan Institute, Slovenia"],"affiliations":[{"raw_affiliation_string":"Jo\u017eef Stefan Institute, Slovenia","institution_ids":["https://openalex.org/I3006985408"]},{"raw_affiliation_string":"Jo\u00bfef Stefan Institute, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091586528","display_name":"Christian B\u00f6ge","orcid":null},"institutions":[{"id":"https://openalex.org/I4210119349","display_name":"Karlsruhe University of Education","ror":"https://ror.org/01t1kq612","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210119349"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Boge","raw_affiliation_strings":["University of Karlsruhe, Germany","university of Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"University of Karlsruhe, Germany","institution_ids":["https://openalex.org/I4210119349"]},{"raw_affiliation_string":"university of Karlsruhe, Germany","institution_ids":["https://openalex.org/I4210119349"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012730104","display_name":"Tamim Asfour","orcid":"https://orcid.org/0000-0003-4879-7680"},"institutions":[{"id":"https://openalex.org/I4210119349","display_name":"Karlsruhe University of Education","ror":"https://ror.org/01t1kq612","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210119349"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tamim Asfour","raw_affiliation_strings":["University of Karlsruhe, Germany","university of Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"University of Karlsruhe, Germany","institution_ids":["https://openalex.org/I4210119349"]},{"raw_affiliation_string":"university of Karlsruhe, Germany","institution_ids":["https://openalex.org/I4210119349"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019399129","display_name":"Ale\u0161 Ude","orcid":"https://orcid.org/0000-0003-3677-3972"},"institutions":[{"id":"https://openalex.org/I3006985408","display_name":"Jo\u017eef Stefan Institute","ror":"https://ror.org/05060sz93","country_code":"SI","type":"facility","lineage":["https://openalex.org/I3006985408"]}],"countries":["SI"],"is_corresponding":false,"raw_author_name":"Ales Ude","raw_affiliation_strings":["Jo\u017eef Stefan Institute, Slovenia","Jo\u00bfef Stefan Institute, Slovenia"],"affiliations":[{"raw_affiliation_string":"Jo\u017eef Stefan Institute, Slovenia","institution_ids":["https://openalex.org/I3006985408"]},{"raw_affiliation_string":"Jo\u00bfef Stefan Institute, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112552331","display_name":"R\u00fcdiger Dillmann","orcid":null},"institutions":[{"id":"https://openalex.org/I4210119349","display_name":"Karlsruhe University of Education","ror":"https://ror.org/01t1kq612","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210119349"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rudiger Dillmann","raw_affiliation_strings":["University of Karlsruhe, Germany","university of Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"University of Karlsruhe, Germany","institution_ids":["https://openalex.org/I4210119349"]},{"raw_affiliation_string":"university of Karlsruhe, Germany","institution_ids":["https://openalex.org/I4210119349"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5068614498"],"corresponding_institution_ids":["https://openalex.org/I3006985408"],"apc_list":null,"apc_paid":null,"fwci":6.1233,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.96042051,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"277","last_page":"283"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.984499990940094,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9828000068664551,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/humanoid-robot","display_name":"Humanoid robot","score":0.7820743322372437},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7043207883834839},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6830923557281494},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6769161224365234},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6715711355209351},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6082125902175903},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.597540020942688},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5758954882621765},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5574686527252197},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.4941547214984894},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4823302924633026},{"id":"https://openalex.org/keywords/cognitive-robotics","display_name":"Cognitive robotics","score":0.46499553322792053},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.45155394077301025},{"id":"https://openalex.org/keywords/situated","display_name":"Situated","score":0.4434780180454254},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.4278278648853302},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.39699220657348633},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.31670206785202026}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7820743322372437},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7043207883834839},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6830923557281494},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6769161224365234},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6715711355209351},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6082125902175903},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.597540020942688},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5758954882621765},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5574686527252197},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.4941547214984894},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4823302924633026},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.46499553322792053},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.45155394077301025},{"id":"https://openalex.org/C132829578","wikidata":"https://www.wikidata.org/wiki/Q581151","display_name":"Situated","level":2,"score":0.4434780180454254},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.4278278648853302},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.39699220657348633},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.31670206785202026},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ichr.2009.5379566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2009.5379566","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 9th IEEE-RAS International Conference on Humanoid Robots","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":19,"referenced_works":["https://openalex.org/W1510186039","https://openalex.org/W2001398109","https://openalex.org/W2005010226","https://openalex.org/W2023758701","https://openalex.org/W2029434782","https://openalex.org/W2097320252","https://openalex.org/W2098030884","https://openalex.org/W2102783898","https://openalex.org/W2108998910","https://openalex.org/W2113157000","https://openalex.org/W2118857015","https://openalex.org/W2135403912","https://openalex.org/W2140143700","https://openalex.org/W2145097496","https://openalex.org/W2498917392","https://openalex.org/W2540104143","https://openalex.org/W2541661271","https://openalex.org/W6674518899","https://openalex.org/W6681576234"],"related_works":["https://openalex.org/W2543019745","https://openalex.org/W2542221445","https://openalex.org/W177694623","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W2079483114","https://openalex.org/W2134294860","https://openalex.org/W2724299411","https://openalex.org/W2493438666","https://openalex.org/W1965774354"],"abstract_inverted_index":{"There":[0],"are":[1],"many":[2],"situations":[3,155],"in":[4,53,153],"which":[5],"an":[6,57],"object":[7,37,114,163],"that":[8,93],"needs":[9],"to":[10,41,97,150,167],"be":[11,18,39,148],"grasped":[12,19],"is":[13,66],"not":[14,160],"graspable,":[15],"but":[16],"could":[17,159],"if":[20],"it":[21,166],"was":[22],"situated":[23],"at":[24],"a":[25,42,90,99,117,168,178,193],"different":[26],"location.":[27,170],"By":[28],"applying":[29],"nonprehensile":[30,76],"manipulation":[31,77],"actions":[32],"such":[33],"as":[34,177],"poking,":[35],"the":[36,54,64,72,81,95,104,107,112,124,137,143,157,162,172],"can":[38,74,147],"moved":[40],"new":[43,127,169],"location":[44],"without":[45,130,164],"first":[46],"being":[47],"grasped.":[48],"We":[49,88],"consider":[50],"these":[51],"issues":[52],"context":[55],"of":[56,63,83,109,119],"artificial":[58],"cognitive":[59],"system.":[60],"The":[61,184],"goal":[62],"paper":[65],"twofold;":[67],"firstly,":[68],"we":[69,140],"study":[70],"how":[71,142],"robot":[73,96,125,158,182,195],"acquire":[75,98],"knowledge":[78,129,146],"by":[79],"observing":[80],"outcomes":[82],"exploratory":[84],"movements":[85],"on":[86,192],"objects.":[87,120],"propose":[89],"learning":[91],"process":[92],"enables":[94],"general":[100],"pushing":[101],"rule":[102],"describing":[103],"relationship":[105],"between":[106],"direction":[108],"poke":[110],"and":[111,190],"observed":[113],"motion":[115],"for":[116,181],"class":[118],"In":[121],"this":[122],"way":[123],"acquires":[126],"action":[128,145,180],"having":[131],"any":[132],"specialized":[133],"prior":[134],"model":[135],"about":[136],"action.":[138],"Secondly,":[139],"investigate":[141],"acquired":[144],"used":[149],"realize":[151],"grasping":[152],"complex":[154],"where":[156],"grasp":[161],"moving":[165],"Here":[171],"learned":[173],"poking":[174],"behavior":[175],"serves":[176],"support":[179],"grasping.":[183],"proposed":[185],"approach":[186],"has":[187],"been":[188],"implemented":[189],"tested":[191],"humanoid":[194],"Armar":[196],"III.":[197]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}