{"id":"https://openalex.org/W2890080361","doi":"https://doi.org/10.1109/icra.2018.8460559","title":"Enhanced Tele-interaction in Unknown Environments Using Semi-Autonomous Motion and Impedance Regulation Principles","display_name":"Enhanced Tele-interaction in Unknown Environments Using Semi-Autonomous Motion and Impedance Regulation Principles","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2890080361","doi":"https://doi.org/10.1109/icra.2018.8460559","mag":"2890080361"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460559","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460559","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","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/A5072560467","display_name":"Luca Muratore","orcid":"https://orcid.org/0000-0002-1265-3370"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Luca Muratore","raw_affiliation_strings":["Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia, Genova, Italy","IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016982993","display_name":"Arturo Laurenzi","orcid":"https://orcid.org/0000-0002-9065-1266"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arturo Laurenzi","raw_affiliation_strings":["Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia, Genova, Italy","IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046447340","display_name":"Enrico Mingo Hoffman","orcid":"https://orcid.org/0000-0003-2063-7490"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Enrico Mingo Hoffman","raw_affiliation_strings":["Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia, Genova, Italy","IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057285974","display_name":"Lorenzo Baccelliere","orcid":"https://orcid.org/0000-0002-3396-328X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Baccelliere","raw_affiliation_strings":["Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia, Genova, Italy","IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070252862","display_name":"Navvab Kashiri","orcid":"https://orcid.org/0000-0002-1219-2447"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Navvab Kashiri","raw_affiliation_strings":["Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia, Genova, Italy","IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia, Genova, Italy","IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos G. Tsagarakis","raw_affiliation_strings":["Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia, Genova, Italy","IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5072560467"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.836,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.72078868,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"1","issue":null,"first_page":"5813","last_page":"5820"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9876999855041504,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9865999817848206,"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/teleoperation","display_name":"Teleoperation","score":0.8303221464157104},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6877112984657288},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6760480999946594},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5797066688537598},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5722578167915344},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.5093256235122681},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.4971676170825958},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.4592255651950836},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4411277174949646},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4383845925331116},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.43099915981292725},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40498262643814087},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3295421600341797},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3024607002735138},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25548040866851807}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8303221464157104},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6877112984657288},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6760480999946594},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5797066688537598},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5722578167915344},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.5093256235122681},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.4971676170825958},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.4592255651950836},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4411277174949646},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4383845925331116},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.43099915981292725},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40498262643814087},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3295421600341797},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3024607002735138},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25548040866851807},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2018.8460559","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460559","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04307632v1","is_oa":false,"landing_page_url":"https://hal.science/hal-04307632","pdf_url":null,"source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA), May 2018, Brisbane, Australia. pp.5813-5820, ⟨10.1109/ICRA.2018.8460559⟩","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1617153945","https://openalex.org/W1728614917","https://openalex.org/W1844273643","https://openalex.org/W1950970151","https://openalex.org/W1969976050","https://openalex.org/W2073136132","https://openalex.org/W2076212064","https://openalex.org/W2090972408","https://openalex.org/W2104332709","https://openalex.org/W2109777206","https://openalex.org/W2114364992","https://openalex.org/W2137165191","https://openalex.org/W2150024155","https://openalex.org/W2612636433","https://openalex.org/W2730083658","https://openalex.org/W2772044689","https://openalex.org/W2782864198","https://openalex.org/W2797811957","https://openalex.org/W2891172891","https://openalex.org/W6637644334","https://openalex.org/W6676396389","https://openalex.org/W6737941372","https://openalex.org/W6740507764","https://openalex.org/W6750262960"],"related_works":["https://openalex.org/W2559957734","https://openalex.org/W2046710269","https://openalex.org/W2097059456","https://openalex.org/W817518365","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652","https://openalex.org/W2145960295","https://openalex.org/W2013463538","https://openalex.org/W2078176643"],"abstract_inverted_index":{"Robotics":[0],"teleoperation":[1],"has":[2],"been":[3],"extensively":[4],"studied":[5],"and":[6,33,53,91,101,113,133,142,170,178,210,220],"considered":[7],"in":[8,11,165],"the":[9,24,37,46,51,59,76,80,121,136,158,162,181,185,194,197,206,217,222,227,230],"past":[10],"several":[12],"task":[13],"scenarios":[14],"where":[15],"direct":[16],"human":[17,47,213],"intervention":[18],"is":[19],"not":[20],"possible":[21],"due":[22],"to":[23,55,99,204,225],"hazardous":[25],"environments.":[26],"In":[27],"such":[28,154],"applications,":[29],"both":[30,139],"communication":[31],"degradation":[32],"reduced":[34],"perception":[35],"of":[36,152,161,184,196,208,212,229],"remote":[38,60,97,163,186],"environment":[39,164,187],"are":[40],"practical":[41],"issues":[42],"that":[43,74,201],"can":[44],"challenge":[45],"operator":[48],"while":[49,119,215],"controlling":[50],"robot":[52,98,146,231],"attempting":[54],"physically":[56],"interact":[57],"within":[58],"workspace.":[61],"To":[62],"address":[63],"this":[64],"challenge,":[65],"we":[66],"introduce":[67],"a":[68,96,126,144],"novel":[69],"shared-autonomy":[70,198],"Tele-Interaction":[71],"control":[72,199],"approach":[73],"blends":[75],"motion":[77,90],"commands":[78],"from":[79],"pilot":[81,214],"(master":[82],"side)":[83,87],"with":[84,125,174,180],"locally":[85],"(slave":[86],"executed":[88],"autonomous":[89,167,175],"impedance":[92,129,176],"modulators.":[93],"This":[94],"enables":[95],"handle":[100],"autonomously":[102],"avoid":[103],"physical":[104,159,233],"obstacles":[105],"during":[106,111,232],"manoeuvring,":[107],"reduce":[108,205],"interaction":[109],"forces":[110],"contacts,":[112],"finally":[114],"accommodate":[115],"different":[116],"payload":[117],"conditions":[118],"at":[120,221],"same":[122,223],"time":[123,224],"operating":[124],"\u201cdefault\u201d":[127],"low":[128],"setting.":[130],"We":[131],"implemented":[132],"experimentally":[134],"validated":[135],"proposed":[137],"method":[138],"on":[140,143],"simulation":[141],"real":[145],"platform":[147],"called":[148],"CENTAURO.":[149],"A":[150],"series":[151],"tasks,":[153],"as":[155],"maneuvering":[156],"through":[157],"constraints":[160],"an":[166],"manner,":[168],"pushing":[169],"lifting":[171],"heavy":[172],"objects":[173],"regulation":[177],"colliding":[179],"rigid":[182],"geometry":[183],"were":[188],"executed.":[189],"The":[190],"obtained":[191],"results":[192],"demonstrate":[193],"effectiveness":[195],"principles":[200],"eventually":[202],"aim":[203],"level":[207],"attention":[209],"stress":[211],"manoeuvring":[216],"slave":[218],"robot,":[219],"enhance":[226],"robustness":[228],"interactions":[234],"even":[235],"if":[236],"accidentally":[237],"occurred.":[238]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}