{"id":"https://openalex.org/W2116377670","doi":"https://doi.org/10.1109/irds.2002.1043875","title":"Multi-modal human-machine communication for instructing robot grasping tasks","display_name":"Multi-modal human-machine communication for instructing robot grasping tasks","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2116377670","doi":"https://doi.org/10.1109/irds.2002.1043875","mag":"2116377670"},"language":"en","primary_location":{"id":"doi:10.1109/irds.2002.1043875","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1043875","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and System","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/cs/0505064","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039808333","display_name":"Patrick McGuire","orcid":"https://orcid.org/0000-0001-6592-4966"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"P. McGuire","raw_affiliation_strings":["Faculty of Technology, Bielefeld University, Bielefeld, Germany","[Fac. of Technol., Bielefeld Univ., Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Technology, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"[Fac. of Technol., Bielefeld Univ., Germany]","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109276040","display_name":"J. Fritsch","orcid":null},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J. Fritsch","raw_affiliation_strings":["Faculty of Technology, Bielefeld University, Bielefeld, Germany","[Fac. of Technol., Bielefeld Univ., Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Technology, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"[Fac. of Technol., Bielefeld Univ., Germany]","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085055595","display_name":"Jochen J. Steil","orcid":"https://orcid.org/0000-0002-6738-9933"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J.J. Steil","raw_affiliation_strings":["Faculty of Technology, Bielefeld University, Bielefeld, Germany","[Fac. of Technol., Bielefeld Univ., Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Technology, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"[Fac. of Technol., Bielefeld Univ., Germany]","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061041744","display_name":"Frank R\u00f6thling","orcid":null},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"F. Rothling","raw_affiliation_strings":["Faculty of Technology, Bielefeld University, Bielefeld, Germany","[Fac. of Technol., Bielefeld Univ., Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Technology, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"[Fac. of Technol., Bielefeld Univ., Germany]","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048407937","display_name":"Gernot A. Fink","orcid":"https://orcid.org/0000-0002-7446-7813"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"G.A. Fink","raw_affiliation_strings":["Faculty of Technology, Bielefeld University, Bielefeld, Germany","[Fac. of Technol., Bielefeld Univ., Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Technology, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"[Fac. of Technol., Bielefeld Univ., Germany]","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029209441","display_name":"Sven Wachsmuth","orcid":"https://orcid.org/0000-0001-5371-7214"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"S. Wachsmuth","raw_affiliation_strings":["Faculty of Technology, Bielefeld University, Bielefeld, Germany","[Fac. of Technol., Bielefeld Univ., Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Technology, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"[Fac. of Technol., Bielefeld Univ., Germany]","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079251562","display_name":"Gerhard Sagerer","orcid":null},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"G. Sagerer","raw_affiliation_strings":["Faculty of Technology, Bielefeld University, Bielefeld, Germany","[Fac. of Technol., Bielefeld Univ., Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Technology, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"[Fac. of Technol., Bielefeld Univ., Germany]","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074989840","display_name":"Helge Ritter","orcid":"https://orcid.org/0000-0003-1703-1906"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"H. Ritter","raw_affiliation_strings":["Faculty of Technology, Bielefeld University, Bielefeld, Germany","[Fac. of Technol., Bielefeld Univ., Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Technology, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"[Fac. of Technol., Bielefeld Univ., Germany]","institution_ids":["https://openalex.org/I20121455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I20121455"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":84,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"1082","last_page":"1088"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9991000294685364,"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"}},"topics":[{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9991000294685364,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9976999759674072,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9965000152587891,"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/computer-science","display_name":"Computer science","score":0.7645439505577087},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6569624543190002},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6328449249267578},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5893598198890686},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.5580200552940369},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.520241379737854},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.4804127514362335},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47786182165145874},{"id":"https://openalex.org/keywords/realization","display_name":"Realization (probability)","score":0.4710136651992798},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.4287567734718323},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12534207105636597}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7645439505577087},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6569624543190002},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6328449249267578},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5893598198890686},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.5580200552940369},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.520241379737854},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.4804127514362335},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47786182165145874},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.4710136651992798},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.4287567734718323},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12534207105636597},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/irds.2002.1043875","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1043875","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and System","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:cs/0505064","is_oa":true,"landing_page_url":"http://arxiv.org/abs/cs/0505064","pdf_url":"https://arxiv.org/pdf/cs/0505064","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.86.2138","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.86.2138","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.techfak.uni-bielefeld.de/ags/ni/publications/media/McGuireFritschSteilRoethlingFinkWachsmuthSagererRitter2002-MHC.pdf","raw_type":"text"},{"id":"pmh:oai:pub.librecat.org:2142270","is_oa":false,"landing_page_url":"https://pub.uni-bielefeld.de/record/2142270","pdf_url":null,"source":{"id":"https://openalex.org/S4306401671","display_name":"PUB \u2013 Publications at Bielefeld University (Bielefeld University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I20121455","host_organization_name":"Bielefeld University","host_organization_lineage":["https://openalex.org/I20121455"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"McGuire PC, Fritsch J, Ritter H, et al. Multi-Modal Human-Machine Communication for Instructing Robot Grasping Tasks. In: <em>Proc. Int. Conf. Intelligent Robotis and Systems</em>. IEEE; 2002: 1082-1089.","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:cs/0505064","is_oa":true,"landing_page_url":"http://arxiv.org/abs/cs/0505064","pdf_url":"https://arxiv.org/pdf/cs/0505064","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education","score":0.8199999928474426}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W34686378","https://openalex.org/W152045702","https://openalex.org/W177466255","https://openalex.org/W1550791608","https://openalex.org/W1561130515","https://openalex.org/W1637570615","https://openalex.org/W1815594279","https://openalex.org/W1843022483","https://openalex.org/W1865529366","https://openalex.org/W1868068734","https://openalex.org/W1928181285","https://openalex.org/W1987350398","https://openalex.org/W2095245949","https://openalex.org/W2102864380","https://openalex.org/W2109592997","https://openalex.org/W2120591602","https://openalex.org/W2122777916","https://openalex.org/W2142465874","https://openalex.org/W2250345906","https://openalex.org/W2551259966","https://openalex.org/W2997215934","https://openalex.org/W4240764793","https://openalex.org/W4255124907","https://openalex.org/W6601420619","https://openalex.org/W6639302792","https://openalex.org/W7046484810"],"related_works":["https://openalex.org/W2022544890","https://openalex.org/W2394097730","https://openalex.org/W2475378634","https://openalex.org/W2385859805","https://openalex.org/W4312353617","https://openalex.org/W2113405914","https://openalex.org/W2530972254","https://openalex.org/W2260963831","https://openalex.org/W4235249401","https://openalex.org/W627697492"],"abstract_inverted_index":{"A":[0],"major":[1],"challenge":[2],"for":[3,46,100,112,122],"the":[4,47,49,110],"realization":[5],"of":[6,54,59,145],"intelligent":[7,120],"robots":[8],"is":[9,33],"to":[10,18,22,30,64,133,141],"supply":[11],"them":[12,24],"with":[13,118,139],"cognitive":[14],"abilities":[15],"in":[16,81],"order":[17],"allow":[19,134],"ordinary":[20],"users":[21],"program":[23],"easily":[25],"and":[26,44,61,66,72,92,115,125,128],"intuitively.":[27],"One":[28],"approach":[29],"such":[31],"programming":[32],"teaching":[34],"work":[35],"tasks":[36,103],"by":[37,104],"interactive":[38],"demonstration.":[39],"To":[40],"make":[41],"this":[42],"effective":[43],"convenient":[45],"user,":[48],"machine":[50],"must":[51],"be":[52,62],"capable":[53],"establishing":[55],"a":[56,83,129],"common":[57],"focus":[58],"attention":[60,114],"able":[63],"use":[65],"integrate":[67],"spoken":[68],"instructions,":[69],"visual":[70,113],"perception,":[71],"non-verbal":[73],"clues":[74],"like":[75],"gestural":[76,116],"commands.":[77],"We":[78],"report":[79],"progress":[80],"building":[82],"hybrid":[84],"architecture":[85],"that":[86],"combines":[87,109],"statistical":[88],"methods,":[89],"neural":[90],"networks,":[91],"finite":[93],"state":[94],"machines":[95],"into":[96],"an":[97,119],"integrated":[98],"system":[99,108],"instructing":[101],"grasping":[102],"man-machine":[105,137],"interaction.":[106],"The":[107],"GRAVIS-robot":[111],"instruction":[117],"interface":[121],"speech":[123],"recognition":[124],"linguistic":[126],"interpretation,":[127],"modality":[130],"fusion":[131],"module":[132],"multi-modal":[135],"task-oriented":[136],"communication":[138],"respect":[140],"dextrous":[142],"robot":[143],"manipulation":[144],"objects.":[146]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":5}],"updated_date":"2026-07-19T07:52:34.831488","created_date":"2025-10-10T00:00:00"}