{"id":"https://openalex.org/W2792953217","doi":"https://doi.org/10.1109/iros.2018.8593528","title":"Tactile Regrasp: Grasp Adjustments via Simulated Tactile Transformations","display_name":"Tactile Regrasp: Grasp Adjustments via Simulated Tactile Transformations","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2792953217","doi":"https://doi.org/10.1109/iros.2018.8593528","mag":"2792953217"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593528","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593528","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1803.01940","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050008610","display_name":"Francois R. Hogan","orcid":"https://orcid.org/0000-0002-0749-7764"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Francois R. Hogan","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology","Dept. of Mechanical Engineering Massachusetts Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004820590","display_name":"Maria Bauz\u00e1","orcid":"https://orcid.org/0000-0002-8251-8019"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maria Bauza","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology","Dept. of Mechanical Engineering Massachusetts Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047292420","display_name":"Oleguer Canal","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Oleguer Canal","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology","Dept. of Mechanical Engineering Massachusetts Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041988440","display_name":"Elliott Donlon","orcid":"https://orcid.org/0000-0003-2297-9451"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Elliott Donlon","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology","Dept. of Mechanical Engineering Massachusetts Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100657503","display_name":"Alberto Rodr\u00edguez","orcid":"https://orcid.org/0000-0002-1119-4512"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alberto Rodriguez","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology","Dept. of Mechanical Engineering Massachusetts Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2963","last_page":"2970"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9940000176429749,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9879000186920166,"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":0.9806469678878784},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6536467671394348},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6535338163375854},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.6468192934989929},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6002563238143921},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5936166048049927},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.5279250144958496},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.5108373165130615},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.4756331443786621},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44426125288009644},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.421072393655777},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41267022490501404},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22399407625198364}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9806469678878784},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6536467671394348},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6535338163375854},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6468192934989929},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6002563238143921},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5936166048049927},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.5279250144958496},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.5108373165130615},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.4756331443786621},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44426125288009644},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.421072393655777},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41267022490501404},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22399407625198364},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1109/iros.2018.8593528","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593528","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1803.01940","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1803.01940","pdf_url":"https://arxiv.org/pdf/1803.01940","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":"","raw_type":"text"},{"id":"pmh:oai:arXiv.org:1803.01940","is_oa":true,"landing_page_url":"https://arxiv.org/abs/1803.01940","pdf_url":"https://arxiv.org/pdf/1803.01940","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":"mag:2792953217","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1803.01940","pdf_url":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:dspace.mit.edu:1721.1/136985","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/136985","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv","raw_type":"http://purl.org/eprint/type/ConferencePaper"},{"id":"pmh:oai:dspace.mit.edu:1721.1/136985.2","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/136985.2","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv","raw_type":"Article"},{"id":"doi:10.48550/arxiv.1803.01940","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1803.01940","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1803.01940","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1803.01940","pdf_url":"https://arxiv.org/pdf/1803.01940","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":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2792953217.pdf","grobid_xml":"https://content.openalex.org/works/W2792953217.grobid-xml"},"referenced_works_count":42,"referenced_works":["https://openalex.org/W1820657498","https://openalex.org/W1892339738","https://openalex.org/W1965953026","https://openalex.org/W1983156320","https://openalex.org/W2005824379","https://openalex.org/W2006833873","https://openalex.org/W2047887570","https://openalex.org/W2069361969","https://openalex.org/W2078072002","https://openalex.org/W2106215490","https://openalex.org/W2112645080","https://openalex.org/W2136364779","https://openalex.org/W2194775991","https://openalex.org/W2201912979","https://openalex.org/W2290564286","https://openalex.org/W2295107390","https://openalex.org/W2325845790","https://openalex.org/W2340935928","https://openalex.org/W2416743726","https://openalex.org/W2421020186","https://openalex.org/W2542011642","https://openalex.org/W2592832748","https://openalex.org/W2600030077","https://openalex.org/W2607241646","https://openalex.org/W2619378249","https://openalex.org/W2737380187","https://openalex.org/W2743209907","https://openalex.org/W2765994785","https://openalex.org/W2775635818","https://openalex.org/W2962688712","https://openalex.org/W2962736495","https://openalex.org/W2962746398","https://openalex.org/W2962787403","https://openalex.org/W2963654160","https://openalex.org/W2963684914","https://openalex.org/W3100674903","https://openalex.org/W3104208381","https://openalex.org/W4235910938","https://openalex.org/W6697443983","https://openalex.org/W6728043242","https://openalex.org/W6739378191","https://openalex.org/W6741140343"],"related_works":["https://openalex.org/W2974038530","https://openalex.org/W1970078615","https://openalex.org/W3174950597","https://openalex.org/W3191911496","https://openalex.org/W2796796379","https://openalex.org/W3000269806","https://openalex.org/W1604877393","https://openalex.org/W1997164150","https://openalex.org/W1962587483","https://openalex.org/W1895481218","https://openalex.org/W3206672920","https://openalex.org/W2775635818","https://openalex.org/W3132564332","https://openalex.org/W3003319708","https://openalex.org/W3011427767","https://openalex.org/W2054689594","https://openalex.org/W2106796720","https://openalex.org/W2187854149","https://openalex.org/W3090143443","https://openalex.org/W188486179"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,43,49,64,175,183],"novel":[4,154],"regrasp":[5,22,120,157],"control":[6,158],"policy":[7,159],"that":[8,33,131],"makes":[9],"use":[10],"of":[11,30,37,61,100,140,146,164,172,178],"tactile":[12,31,85,103,108],"sensing":[13],"to":[14,78,92,124],"plan":[15],"local":[16,28],"grasp":[17,45,95,115,127,133,165],"adjustments.":[18],"Our":[19],"approach":[20,187],"determines":[21],"actions":[23,166],"by":[24,74,96,167],"virtually":[25],"searching":[26],"for":[27],"transformations":[29,99],"measurements":[32],"improve":[34],"the":[35,38,84,93,101,113,119,126,132,138,161],"quality":[36,46,60,116,134],"grasp.":[39],"First,":[40],"we":[41,82],"construct":[42],"tactile-based":[44],"metric":[47],"using":[48],"deep":[50],"convolutional":[51],"neural":[52],"network":[53,117,135],"trained":[54],"on":[55,148,153,174],"over":[56],"2800":[57],"grasps.":[58],"The":[59,105,156],"each":[62],"grasp,":[63],"continuous":[65],"value":[66],"between":[67],"0":[68],"and":[69,118,151],"1,":[70],"is":[71,122],"determined":[72],"experimentally":[73],"measuring":[75],"its":[76],"resistance":[77],"external":[79],"perturbations.":[80],"Second,":[81],"simulate":[83],"imprints":[86,109],"associated":[87],"with":[88,112,142],"robot":[89],"motions":[90],"relative":[91,170],"initial":[94],"performing":[97],"rigid-body":[98],"given":[102],"measurements.":[104],"newly":[106],"generated":[107],"are":[110],"evaluated":[111],"learned":[114],"action":[121],"chosen":[123],"maximize":[125],"quality.":[128],"Results":[129],"show":[130],"can":[136],"predict":[137],"outcome":[139],"grasps":[141],"an":[143,168],"average":[144,169],"accuracy":[145],"85%":[147],"known":[149],"objects":[150],"75%":[152],"objects.":[155,180],"improves":[160],"success":[162],"rate":[163],"increase":[171],"70%":[173],"test":[176],"set":[177],"8":[179],"We":[181],"provide":[182],"video":[184],"summarizing":[185],"our":[186],"at":[188],"https://youtu.be/gjn7DmfpwDk.":[189]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
