{"id":"https://openalex.org/W1982483689","doi":"https://doi.org/10.1109/iros.2010.5650731","title":"Skill-based telemanipulation by means of intelligent robots","display_name":"Skill-based telemanipulation by means of intelligent robots","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W1982483689","doi":"https://doi.org/10.1109/iros.2010.5650731","mag":"1982483689"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5650731","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5650731","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://publica.fraunhofer.de/documents/N-148667.html","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004523933","display_name":"Simon Notheis","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Simon Notheis","raw_affiliation_strings":["Institute for Process Control and Robotics (IPR), Karlsruhe Institute of Technology (KIT), 76131, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Process Control and Robotics (IPR), Karlsruhe Institute of Technology (KIT), 76131, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001756112","display_name":"Giulio Milighetti","orcid":null},"institutions":[{"id":"https://openalex.org/I4210111500","display_name":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation","ror":"https://ror.org/01zx97922","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210111500","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Giulio Milighetti","raw_affiliation_strings":["Fraunhofer Institute of Optronics, System Technologies and Image Exploitation (IOSB), 76131 Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation (IOSB), 76131 Karlsruhe, Germany","institution_ids":["https://openalex.org/I4210111500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075805786","display_name":"Bj\u00f6rn Hein","orcid":"https://orcid.org/0000-0001-9569-5201"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bjorn Hein","raw_affiliation_strings":["Institute for Process Control and Robotics (IPR), Karlsruhe Institute of Technology (KIT), 76131, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Process Control and Robotics (IPR), Karlsruhe Institute of Technology (KIT), 76131, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091849797","display_name":"Heinz W\u00f6rn","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Heinz Worn","raw_affiliation_strings":["Institute for Process Control and Robotics (IPR), Karlsruhe Institute of Technology (KIT), 76131, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Process Control and Robotics (IPR), Karlsruhe Institute of Technology (KIT), 76131, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073930300","display_name":"J\u00fcrgen Beyerer","orcid":"https://orcid.org/0000-0003-3556-7181"},"institutions":[{"id":"https://openalex.org/I4210111500","display_name":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation","ror":"https://ror.org/01zx97922","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210111500","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jurgen Beyerer","raw_affiliation_strings":["Fraunhofer Institute of Optronics, System Technologies and Image Exploitation (IOSB), 76131 Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation (IOSB), 76131 Karlsruhe, Germany","institution_ids":["https://openalex.org/I4210111500"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5004523933"],"corresponding_institution_ids":["https://openalex.org/I102335020"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.11497791,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"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/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/T13382","display_name":"Robotics and Automated Systems","score":0.9969000220298767,"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/teleoperation","display_name":"Teleoperation","score":0.8914434909820557},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7344404458999634},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.677361249923706},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5827618837356567},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5708743333816528},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.5569112300872803},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5303652286529541},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.491240918636322},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.4731767475605011},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.4336671233177185},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.4314800798892975},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38079944252967834},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2760363817214966},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.2076716125011444},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.156681627035141},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.09220507740974426},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07343044877052307}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8914434909820557},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7344404458999634},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.677361249923706},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5827618837356567},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5708743333816528},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.5569112300872803},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5303652286529541},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.491240918636322},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.4731767475605011},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.4336671233177185},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.4314800798892975},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38079944252967834},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2760363817214966},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.2076716125011444},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.156681627035141},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.09220507740974426},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07343044877052307},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2010.5650731","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5650731","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:fraunhofer.de:N-148667","is_oa":true,"landing_page_url":"http://publica.fraunhofer.de/documents/N-148667.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fraunhofer IOSB","raw_type":"Conference Paper"},{"id":"pmh:oai:publica.fraunhofer.de:publica/367739","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/367739","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"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":"conference paper"}],"best_oa_location":{"id":"pmh:oai:fraunhofer.de:N-148667","is_oa":true,"landing_page_url":"http://publica.fraunhofer.de/documents/N-148667.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fraunhofer IOSB","raw_type":"Conference Paper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W2019505016","https://openalex.org/W2096468509","https://openalex.org/W2109765155","https://openalex.org/W2114917712","https://openalex.org/W2121440896","https://openalex.org/W2143907646","https://openalex.org/W2313535172","https://openalex.org/W2401326462","https://openalex.org/W6677104812"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W2097059456","https://openalex.org/W817518365","https://openalex.org/W2145103607","https://openalex.org/W2141648055","https://openalex.org/W4367662652","https://openalex.org/W2145960295","https://openalex.org/W2078176643","https://openalex.org/W1993574973","https://openalex.org/W2013463538"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,5,59],"enable":[3],"robots":[4],"execute":[6],"highly":[7],"dynamic":[8],"tasks":[9,69],"in":[10,26,87],"dangerous":[11],"or":[12,112],"remote":[13,62,117],"environments,":[14],"a":[15,32,116],"semiautomatic":[16],"teleoperation":[17],"concept":[18],"has":[19],"been":[20],"developed":[21],"and":[22,43,56,70,120],"will":[23,73,123],"be":[24,74,95,124],"presented":[25],"this":[27,78],"paper.":[28],"It":[29],"relies":[30],"on":[31,77],"modular":[33],"software":[34],"architecture,":[35],"which":[36],"allows":[37],"intuitive":[38],"control":[39],"over":[40],"the":[41,61,68,88,99,103],"robot":[42,89],"compensates":[44],"latency-based":[45],"risks":[46],"by":[47,108],"using":[48],"Augmented":[49],"Reality":[50],"techniques":[51],"together":[52],"with":[53,64,82],"path":[54],"prediction":[55],"collision":[57],"avoidance":[58],"provide":[60],"user":[63],"visual":[65],"feedback":[66,101],"about":[67],"skills":[71,81],"that":[72,92],"executed.":[75],"Based":[76],"architecture":[79],"different":[80],"high":[83],"dynamics":[84],"are":[85],"integrated":[86],"control,":[90],"so":[91],"they":[93],"can":[94],"executed":[96],"autonomously":[97],"without":[98],"delayed":[100],"of":[102,110],"user.":[104],"The":[105],"skill-based":[106],"grasping":[107],"adherence":[109],"smooth":[111],"fragile":[113],"objects":[114],"during":[115],"controlled":[118],"picking":[119],"placing":[121],"task":[122],"exemplary":[125],"presented.":[126]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
