{"id":"https://openalex.org/W2096697737","doi":"https://doi.org/10.1109/icra.2011.5979648","title":"Towards an automatic robot regrasping movement based on human demonstration using tangle topology","display_name":"Towards an automatic robot regrasping movement based on human demonstration using tangle topology","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2096697737","doi":"https://doi.org/10.1109/icra.2011.5979648","mag":"2096697737"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979648","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979648","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5053801369","display_name":"Phongtharin Vinayavekhin","orcid":"https://orcid.org/0009-0003-8050-6422"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Phongtharin Vinayavekhin","raw_affiliation_strings":["Graduate School of Information Systems, University of Electro-Communications, Chofu, Tokyo, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Systems, University of Electro-Communications, Chofu, Tokyo, JAPAN","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103762326","display_name":"Shunsuke Kudoh","orcid":null},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]},{"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":"Shunsuke Kudoh","raw_affiliation_strings":["Institute of Industrial Science, University of Tokyo, Meguro-ku, Tokyo, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Industrial Science, University of Tokyo, Meguro-ku, Tokyo, JAPAN","institution_ids":["https://openalex.org/I74801974","https://openalex.org/I161296585"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016258462","display_name":"Katsushi Ikeuchi","orcid":"https://orcid.org/0000-0001-9758-9357"},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]},{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]},{"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":"Katsushi Ikeuchi","raw_affiliation_strings":["Graduate School of Information Systems, University of Electro-Communications, Chofu, Tokyo, JAPAN","Institute of Industrial Science, University of Tokyo, Meguro, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Systems, University of Electro-Communications, Chofu, Tokyo, JAPAN","institution_ids":["https://openalex.org/I20529979"]},{"raw_affiliation_string":"Institute of Industrial Science, University of Tokyo, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974","https://openalex.org/I161296585"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.9428,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.93746185,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991999864578247,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/tangle","display_name":"Tangle","score":0.8575562238693237},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8346786499023438},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7026491761207581},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6096587181091309},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5772724151611328},{"id":"https://openalex.org/keywords/movement","display_name":"Movement (music)","score":0.5736667513847351},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5714281797409058},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5663605332374573},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5522435307502747},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.5257989764213562},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3706768751144409},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.35529768466949463},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24835219979286194},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12304356694221497},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.0713488757610321}],"concepts":[{"id":"https://openalex.org/C177738377","wikidata":"https://www.wikidata.org/wiki/Q7683003","display_name":"Tangle","level":2,"score":0.8575562238693237},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8346786499023438},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7026491761207581},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6096587181091309},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5772724151611328},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.5736667513847351},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5714281797409058},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5663605332374573},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5522435307502747},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.5257989764213562},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3706768751144409},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35529768466949463},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24835219979286194},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12304356694221497},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0713488757610321},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C107038049","wikidata":"https://www.wikidata.org/wiki/Q35986","display_name":"Aesthetics","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5979648","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979648","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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":20,"referenced_works":["https://openalex.org/W1510186039","https://openalex.org/W1549044174","https://openalex.org/W1587405368","https://openalex.org/W1853404069","https://openalex.org/W1969261142","https://openalex.org/W2046303769","https://openalex.org/W2061476992","https://openalex.org/W2067865322","https://openalex.org/W2097197636","https://openalex.org/W2102387861","https://openalex.org/W2105059122","https://openalex.org/W2111044080","https://openalex.org/W2123079020","https://openalex.org/W2124926399","https://openalex.org/W2129157041","https://openalex.org/W2141733693","https://openalex.org/W2144246429","https://openalex.org/W2144573888","https://openalex.org/W2159717066","https://openalex.org/W6683454648"],"related_works":["https://openalex.org/W4387747504","https://openalex.org/W4324297701","https://openalex.org/W1988331941","https://openalex.org/W2066873783","https://openalex.org/W2657478029","https://openalex.org/W3146859979","https://openalex.org/W4224220472","https://openalex.org/W2080808138","https://openalex.org/W4387962997","https://openalex.org/W4385312898"],"abstract_inverted_index":{"This":[0,93],"paper":[1],"introduces":[2],"a":[3,8,24,27,30,58,64,73,95,129],"novel":[4],"method":[5],"to":[6,10,36,42,98,132],"teach":[7],"robot":[9,25,74,126],"regrasp":[11],"an":[12,102],"object":[13,88],"based":[14,79],"on":[15,80],"the":[16,44,55,105,109,113,134,137],"Programming":[17],"by":[18],"Demonstration":[19],"paradigm.":[20],"In":[21],"this":[22,70],"paradigm,":[23],"observes":[26],"human":[28,65],"performing":[29],"regrasping":[31,66,96,118],"task":[32,45],"via":[33],"various":[34],"sensors":[35],"recognise":[37],"crucial":[38],"information":[39],"in":[40,54,72,124,128],"order":[41],"reproduce":[43,69],"using":[46],"its":[47],"own":[48],"hand.":[49,75],"The":[50,76],"main":[51],"contribution":[52],"is":[53,78],"proposal":[56],"of":[57,104,136],"representation":[59],"technique":[60,77],"that":[61],"can":[62],"analyse":[63],"movement":[67,71,97],"and":[68,86,112,122],"tangle":[81,106],"topology":[82],"where":[83],"both":[84],"hand":[85],"manipulated":[87],"are":[89,120],"considered":[90,100],"as":[91,101],"strands.":[92],"allows":[94],"be":[99],"alteration":[103],"relationship":[107],"between":[108],"strands":[110],"(hand":[111],"object)":[114],"over":[115],"time.":[116],"Human":[117],"movements":[119],"analysed":[121],"reproduced":[123],"multi-fingered":[125],"hands":[127],"grasp":[130],"simulation":[131],"demonstrate":[133],"efficiency":[135],"proposed":[138],"method.":[139]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}