{"id":"https://openalex.org/W1998774616","doi":"https://doi.org/10.1109/icra.2012.6225148","title":"Identification of contact formations: Resolving ambiguous force torque information","display_name":"Identification of contact formations: Resolving ambiguous force torque information","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W1998774616","doi":"https://doi.org/10.1109/icra.2012.6225148","mag":"1998774616"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225148","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225148","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/A5035604098","display_name":"Katharina Hertkorn","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Katharina Hertkorn","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, DLR\u2014German Aerospace Center, D-82234 Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, DLR\u2014German Aerospace Center, D-82234 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048087019","display_name":"M\u00e1ximo A. Roa","orcid":"https://orcid.org/0000-0003-1708-4223"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maximo A. Roa","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, DLR\u2014German Aerospace Center, D-82234 Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, DLR\u2014German Aerospace Center, D-82234 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049122434","display_name":"Carsten Preusche","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Carsten Preusche","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, DLR\u2014German Aerospace Center, D-82234 Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, DLR\u2014German Aerospace Center, D-82234 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110827678","display_name":"Christoph Borst","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Borst","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, DLR\u2014German Aerospace Center, D-82234 Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, DLR\u2014German Aerospace Center, D-82234 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111425451","display_name":"Gerd Hirzinger","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Gerd Hirzinger","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, DLR\u2014German Aerospace Center, D-82234 Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, DLR\u2014German Aerospace Center, D-82234 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.4107,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.92183122,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3278","last_page":"3284"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.996999979019165,"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":0.996999979019165,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9955000281333923,"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/T10534","display_name":"Structural Health Monitoring Techniques","score":0.9940999746322632,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/torque","display_name":"Torque","score":0.7896662950515747},{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.7576737403869629},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5977681875228882},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.5880438089370728},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.49174168705940247},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45192500948905945},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30375760793685913},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2535094618797302},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24973484873771667},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.17218515276908875},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.13780313730239868},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.13546743988990784}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7896662950515747},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.7576737403869629},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5977681875228882},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.5880438089370728},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.49174168705940247},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45192500948905945},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30375760793685913},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2535094618797302},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24973484873771667},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.17218515276908875},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.13780313730239868},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.13546743988990784},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2012.6225148","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225148","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:75291","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225148>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W141306620","https://openalex.org/W1493784828","https://openalex.org/W1564897360","https://openalex.org/W1648689254","https://openalex.org/W1964321719","https://openalex.org/W1989292575","https://openalex.org/W1990451985","https://openalex.org/W2040809851","https://openalex.org/W2062809812","https://openalex.org/W2068485731","https://openalex.org/W2100154233","https://openalex.org/W2108133685","https://openalex.org/W2116796345","https://openalex.org/W2135092312","https://openalex.org/W2153504150","https://openalex.org/W2153682359","https://openalex.org/W2157332596","https://openalex.org/W2160337655","https://openalex.org/W2168868109","https://openalex.org/W2537883847","https://openalex.org/W2709063614","https://openalex.org/W6629750261","https://openalex.org/W6680173660"],"related_works":["https://openalex.org/W1553869462","https://openalex.org/W3119152702","https://openalex.org/W1585494168","https://openalex.org/W2990736200","https://openalex.org/W3140486956","https://openalex.org/W2360661724","https://openalex.org/W2790471110","https://openalex.org/W1233741067","https://openalex.org/W4225006828","https://openalex.org/W2157702526"],"abstract_inverted_index":{"This":[0,109],"paper":[1],"presents":[2],"the":[3,30,53,72,90,93,96,101,111,114],"identification":[4],"of":[5,55,74,95,103,113,116,124],"contact":[6,23,35,42,56,76,97,105,118],"formations":[7,57,106,119],"using":[8],"force":[9,13,80],"torque":[10,14,81],"information.":[11],"As":[12],"measurements":[15],"do":[16],"not":[17],"map":[18],"uniquely":[19],"to":[20,60,70],"their":[21,61],"corresponding":[22],"formations,":[24],"three":[25],"steps":[26],"are":[27],"performed:":[28],"Initially,":[29],"wrench":[31,63],"space":[32],"for":[33],"each":[34],"formation":[36,43,77,98],"is":[37,45,68,87,130],"computed":[38],"automatically.":[39],"Then,":[40],"a":[41,48,75,79,121],"graph":[44,99],"augmented":[46],"with":[47,58],"similarity":[49,54,91],"index":[50],"that":[51],"reflects":[52],"respect":[59],"spanned":[62],"spaces.":[64],"A":[65],"particle":[66],"filter":[67],"used":[69],"represent":[71],"likeliness":[73],"given":[78],"measurement.":[82],"Finally,":[83],"this":[84],"probability":[85],"distribution":[86],"resolved":[88],"taking":[89],"index,":[92],"transitions":[94],"and":[100,126],"history":[102],"identified":[104],"into":[107],"account.":[108],"allows":[110],"recognition":[112],"order":[115],"demonstrated":[117],"by":[120,132],"measured":[122],"set":[123],"forces":[125],"torques.":[127],"The":[128],"approach":[129],"verified":[131],"experiments.":[133]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}