{"id":"https://openalex.org/W2964095385","doi":"https://doi.org/10.1109/iros.2017.8206178","title":"Human-in-the-loop optimisation: Mixed initiative grasping for optimally facilitating post-grasp manipulative actions","display_name":"Human-in-the-loop optimisation: Mixed initiative grasping for optimally facilitating post-grasp manipulative actions","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2964095385","doi":"https://doi.org/10.1109/iros.2017.8206178","mag":"2964095385"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206178","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206178","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://inria.hal.science/hal-01572347","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"E. Amir M. Ghalamzan","orcid":null},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"E. Amir M. Ghalamzan","raw_affiliation_strings":["University of Birmingham, Birmingham, United Kingdom"],"affiliations":[{"raw_affiliation_string":"University of Birmingham, Birmingham, United Kingdom","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080673264","display_name":"Firas Abi-Farraj","orcid":"https://orcid.org/0000-0002-1600-6330"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210133778","display_name":"Centre Inria de l'Universit\u00e9 de Rennes","ror":"https://ror.org/04040yw90","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210133778"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Firas Abi-Farraj","raw_affiliation_strings":["Irisa and Inria Rennes Bretagne Atlantique, CNRS, Rennes Cedex, France"],"affiliations":[{"raw_affiliation_string":"Irisa and Inria Rennes Bretagne Atlantique, CNRS, Rennes Cedex, France","institution_ids":["https://openalex.org/I4210133778","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067595490","display_name":"Paolo Robuffo Giordano","orcid":"https://orcid.org/0000-0001-6919-7751"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210133778","display_name":"Centre Inria de l'Universit\u00e9 de Rennes","ror":"https://ror.org/04040yw90","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210133778"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Paolo Robuffo Giordano","raw_affiliation_strings":["Irisa and Inria Rennes Bretagne Atlantique, CNRS, Rennes Cedex, France"],"affiliations":[{"raw_affiliation_string":"Irisa and Inria Rennes Bretagne Atlantique, CNRS, Rennes Cedex, France","institution_ids":["https://openalex.org/I4210133778","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005183926","display_name":"Rustam Stolkin","orcid":"https://orcid.org/0000-0002-0890-8836"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Rustam Stolkin","raw_affiliation_strings":["University of Birmingham, Birmingham, United Kingdom"],"affiliations":[{"raw_affiliation_string":"University of Birmingham, Birmingham, United Kingdom","institution_ids":["https://openalex.org/I79619799"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I79619799"],"apc_list":null,"apc_paid":null,"fwci":2.8541,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.91322845,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"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/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":0.9994000196456909,"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":0.994700014591217,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9654315710067749},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7237293720245361},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5912070274353027},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5898199677467346},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.556100606918335},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5488321781158447},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5396462082862854},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5075291395187378},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5073503851890564},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5050292611122131},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5024135112762451},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.50014328956604},{"id":"https://openalex.org/keywords/human-in-the-loop","display_name":"Human-in-the-loop","score":0.4692435562610626},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.4623471796512604},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4328667223453522},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4109654426574707},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3943628966808319},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30140843987464905}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9654315710067749},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7237293720245361},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5912070274353027},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5898199677467346},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.556100606918335},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5488321781158447},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5396462082862854},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5075291395187378},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5073503851890564},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5050292611122131},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5024135112762451},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.50014328956604},{"id":"https://openalex.org/C2780626000","wikidata":"https://www.wikidata.org/wiki/Q5936775","display_name":"Human-in-the-loop","level":2,"score":0.4692435562610626},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.4623471796512604},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4328667223453522},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4109654426574707},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3943628966808319},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30140843987464905},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2017.8206178","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206178","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01572347v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-01572347","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'17, Sep 2017, Vancouver, Canada. pp.3386-3393","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01572347v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-01572347","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'17, Sep 2017, Vancouver, Canada. pp.3386-3393","raw_type":"Conference papers"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1547545452","https://openalex.org/W1987985958","https://openalex.org/W1999156278","https://openalex.org/W2007920821","https://openalex.org/W2021964038","https://openalex.org/W2028492326","https://openalex.org/W2049410986","https://openalex.org/W2054329580","https://openalex.org/W2099893201","https://openalex.org/W2102163741","https://openalex.org/W2121677190","https://openalex.org/W2122710858","https://openalex.org/W2133644836","https://openalex.org/W2293467699","https://openalex.org/W2294389641","https://openalex.org/W2300618187","https://openalex.org/W2561257955","https://openalex.org/W2563462039","https://openalex.org/W2563910264","https://openalex.org/W2564869584","https://openalex.org/W2569610420","https://openalex.org/W2577634205","https://openalex.org/W2588047059","https://openalex.org/W2591985941","https://openalex.org/W2595142274","https://openalex.org/W2902812031","https://openalex.org/W2962736495","https://openalex.org/W4301783472","https://openalex.org/W6664108513","https://openalex.org/W6756396463"],"related_works":["https://openalex.org/W2094105667","https://openalex.org/W2097347938","https://openalex.org/W2164858976","https://openalex.org/W2970545857","https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W4311378573","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W4287201739"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,45,66,72,88,98,105,108,113,124,143,161,164,181,190],"problem":[4],"of":[5,147,180,192],"mixed":[6],"initiative,":[7],"shared":[8],"control":[9,178],"for":[10],"master-slave":[11],"grasping":[12],"and":[13,70,153,200],"manipulation.":[14],"We":[15,129,167,188],"propose":[16],"a":[17,26,30,35,131,148],"novel":[18],"system,":[19],"in":[20,28,49,58,175],"which":[21,83,111,119,138,171],"an":[22,54,80],"autonomous":[23,59,81,99],"agent":[24,82,100],"assists":[25],"human":[27,46,114,162],"teleoperating":[29],"remote":[31],"slave":[32,67],"arm/gripper,":[33],"using":[34],"haptic":[36],"master":[37],"device.":[38],"Our":[39],"system":[40],"is":[41,139],"designed":[42],"to":[43,79,87,90,104,115,141,160,184],"exploit":[44],"operator's":[47],"expertise":[48],"selecting":[50],"stable":[51],"grasps":[52,170],"(still":[53],"open":[55],"research":[56],"topic":[57],"robotics).":[60],"Meanwhile,":[61],"a-priori":[62],"knowledge":[63],"of:":[64],"i)":[65],"robot":[68],"kinematics,":[69],"ii)":[71],"desired":[73],"post-grasp":[74,125,151],"manipulative":[75],"trajectory,":[76],"are":[77],"fed":[78],"transmits":[84],"force":[85,102,158],"cues":[86,103,159],"human,":[89,106],"encourage":[91,112],"maximally":[92],"manipulable":[93],"grasp":[94,117],"pose":[95],"selections.":[96],"Specifically,":[97],"provides":[101],"during":[107,123,150,163],"reach-to-grasp":[109],"phase,":[110],"select":[116],"poses":[118],"maximise":[120],"manipulation":[121,127],"capability":[122,146],"object":[126],"phase.":[128,166],"introduce":[130],"task-oriented":[132],"velocity":[133],"manipulability":[134],"cost":[135],"function":[136],"(TOV),":[137],"used":[140],"identify":[142],"maximum":[144],"kinematic":[145],"manipulator":[149],"motions,":[152],"feed":[154],"this":[155],"back":[156],"as":[157],"pre-grasp":[165],"show":[168],"that":[169],"minimise":[172],"TOV":[173],"result":[174],"significantly":[176],"reduced":[177],"effort":[179],"manipulator,":[182],"compared":[183],"other":[185],"feasible":[186],"grasps.":[187],"demonstrate":[189],"effectiveness":[191],"our":[193],"approach":[194],"by":[195],"experiments":[196],"with":[197],"both":[198],"real":[199],"simulated":[201],"robots.":[202]},"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":5},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":4}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}
