{"id":"https://openalex.org/W2034939775","doi":"https://doi.org/10.1109/icra.2013.6630564","title":"Uncertainty aware grasping and tactile exploration","display_name":"Uncertainty aware grasping and tactile exploration","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2034939775","doi":"https://doi.org/10.1109/icra.2013.6630564","mag":"2034939775"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6630564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630564","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5034965160","display_name":"Stanimir Dragiev","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Stanimir Dragiev","raw_affiliation_strings":["Machine Learning and Robotics group, FU Berlin, Germany","CoR-Lab., Bielefeld, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Machine Learning and Robotics group, FU Berlin, Germany","institution_ids":[]},{"raw_affiliation_string":"CoR-Lab., Bielefeld, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065672819","display_name":"Marc Toussaint","orcid":"https://orcid.org/0000-0002-5487-6767"},"institutions":[{"id":"https://openalex.org/I75951250","display_name":"Freie Universit\u00e4t Berlin","ror":"https://ror.org/046ak2485","country_code":"DE","type":"education","lineage":["https://openalex.org/I75951250"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marc Toussaint","raw_affiliation_strings":["Machine Learning and Robotics group, FU Berlin, Germany","Machine Learning & Robot. group at the FU Berlin, Berlin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Machine Learning and Robotics group, FU Berlin, Germany","institution_ids":[]},{"raw_affiliation_string":"Machine Learning & Robot. group at the FU Berlin, Berlin, Germany","institution_ids":["https://openalex.org/I75951250"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025560073","display_name":"Michael Gienger","orcid":"https://orcid.org/0000-0001-8036-2519"},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]},{"id":"https://openalex.org/I4210112253","display_name":"Honda (Germany)","ror":"https://ror.org/022c1xk47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210112253"]}],"countries":["DE","JP"],"is_corresponding":false,"raw_author_name":"Michael Gienger","raw_affiliation_strings":["Honda Research Institute Europe, Offenbach, Germany","[Honda Res. Inst. Eur., Offenbach, Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute Europe, Offenbach, Germany","institution_ids":["https://openalex.org/I4210112253"]},{"raw_affiliation_string":"[Honda Res. Inst. Eur., Offenbach, Germany]","institution_ids":["https://openalex.org/I1283473643"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":66,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"113","last_page":"119"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9702000021934509,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9679999947547913,"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/grasp","display_name":"GRASP","score":0.9169830083847046},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7263359427452087},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6652863025665283},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.6608932018280029},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6160339117050171},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5444655418395996},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5167445540428162},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5009055137634277},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4609329104423523},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.41606801748275757},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.413080096244812},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40260931849479675},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3420122563838959},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3272690773010254},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1423490047454834},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.07739052176475525}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9169830083847046},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7263359427452087},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6652863025665283},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6608932018280029},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6160339117050171},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5444655418395996},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5167445540428162},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5009055137634277},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4609329104423523},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.41606801748275757},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.413080096244812},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40260931849479675},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3420122563838959},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3272690773010254},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1423490047454834},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.07739052176475525},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2013.6630564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630564","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.5799999833106995,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W31424620","https://openalex.org/W1746819321","https://openalex.org/W2041376653","https://openalex.org/W2070678636","https://openalex.org/W2074954154","https://openalex.org/W2107153006","https://openalex.org/W2127514693","https://openalex.org/W2138398778","https://openalex.org/W2139069549","https://openalex.org/W2147751396","https://openalex.org/W2244686166","https://openalex.org/W2296434941","https://openalex.org/W2745631239","https://openalex.org/W4211049957","https://openalex.org/W4246238737","https://openalex.org/W4250202925","https://openalex.org/W6831598126"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W3133406196","https://openalex.org/W4386395740","https://openalex.org/W2148001919"],"abstract_inverted_index":{"The":[0,102],"perception":[1],"of":[2,31,40,68,76,110],"the":[3,28,32,60,74,108,113],"surrounding":[4],"world":[5],"depends":[6],"on":[7],"noisy":[8],"sensors":[9],"which":[10,54],"introduce":[11],"uncertainty.":[12],"When":[13],"we":[14,42],"develop":[15],"algorithms":[16],"for":[17,46,93],"grasping":[18,95],"with":[19,59],"robotic":[20],"hands":[21],"it":[22,121],"is":[23,37],"not":[24],"enough":[25],"to":[26,44,62,73],"assume":[27],"best":[29],"estimate":[30],"environment":[33],"-":[34],"if":[35],"there":[36],"a":[38,51,56,91,98],"measure":[39],"uncertainty":[41,111],"need":[43],"account":[45],"it.":[47],"This":[48],"paper":[49],"presents":[50],"control":[52,88,114],"law":[53,89],"augments":[55],"grasp":[57],"controller":[58],"ability":[61],"prefer":[63],"known":[64],"or":[65],"unseen":[66],"regions":[67],"an":[69,80,124],"object;":[70],"this":[71,87],"leads":[72],"introduction":[75],"two":[77],"motion":[78],"primitives:":[79],"explorative":[81],"and":[82,96,119],"exploitative":[83],"grasp.":[84],"We":[85],"integrate":[86],"in":[90,112],"framework":[92],"iterative":[94],"implement":[97],"tactile":[99],"exploration":[100],"scenario.":[101],"experimental":[103],"results":[104],"confirm":[105],"that":[106],"using":[107],"notion":[109],"loop":[115],"yields":[116],"better":[117],"models":[118],"does":[120],"faster":[122],"than":[123],"uninformed":[125],"controller.":[126]},"counts_by_year":[{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
