{"id":"https://openalex.org/W4313026418","doi":"https://doi.org/10.1109/iros47612.2022.9981525","title":"Multi-Phase Multi-Modal Haptic Teleoperation","display_name":"Multi-Phase Multi-Modal Haptic Teleoperation","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4313026418","doi":"https://doi.org/10.1109/iros47612.2022.9981525"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981525","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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://elib.dlr.de/189355/1/Muehlbauer_MultiPhaseMultiModalTelemanipulation_IROS2022.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060947625","display_name":"Maximilian M\u00fchlbauer","orcid":"https://orcid.org/0000-0002-7635-0248"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Maximilian M\u00fchlbauer","raw_affiliation_strings":["Technical University Munich,Sensor Based Robotic Systems and Intelligent Assistance Systems,Department of Informatics,Garching,Germany","Department of Informatics, Sensor Based Robotic Systems and Intelligent Assistance Systems, Technical University Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University Munich,Sensor Based Robotic Systems and Intelligent Assistance Systems,Department of Informatics,Garching,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Informatics, Sensor Based Robotic Systems and Intelligent Assistance Systems, Technical University Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077188472","display_name":"Franz Steinmetz","orcid":"https://orcid.org/0000-0002-1481-9215"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Franz Steinmetz","raw_affiliation_strings":["German Aerospace Center (DLR), Robotics and Mechatronics Center (RMC),Weβling,Germany,82234"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Robotics and Mechatronics Center (RMC),Weβling,Germany,82234","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017689065","display_name":"Freek Stulp","orcid":"https://orcid.org/0000-0001-9555-9517"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Freek Stulp","raw_affiliation_strings":["German Aerospace Center (DLR), Robotics and Mechatronics Center (RMC),Weβling,Germany,82234"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Robotics and Mechatronics Center (RMC),Weβling,Germany,82234","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044949916","display_name":"Thomas Hulin","orcid":"https://orcid.org/0000-0002-3814-075X"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Hulin","raw_affiliation_strings":["German Aerospace Center (DLR), Robotics and Mechatronics Center (RMC),Weβling,Germany,82234"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Robotics and Mechatronics Center (RMC),Weβling,Germany,82234","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080814983","display_name":"Alin Albu\u2010Sch\u00e4ffer","orcid":"https://orcid.org/0000-0001-5343-9074"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alin Albu-Sch\u00e4ffer","raw_affiliation_strings":["Technical University Munich,Sensor Based Robotic Systems and Intelligent Assistance Systems,Department of Informatics,Garching,Germany","Department of Informatics, Sensor Based Robotic Systems and Intelligent Assistance Systems, Technical University Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University Munich,Sensor Based Robotic Systems and Intelligent Assistance Systems,Department of Informatics,Garching,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Informatics, Sensor Based Robotic Systems and Intelligent Assistance Systems, Technical University Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5060947625"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":2.7052,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.9125,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"7734","last_page":"7741"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9995999932289124,"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":0.9995999932289124,"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/T10888","display_name":"Augmented Reality Applications","score":0.9751999974250793,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T11006","display_name":"BIM and Construction Integration","score":0.9623000025749207,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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":0.862633466720581},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.805200457572937},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.6538609266281128},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5914349555969238},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.460722953081131},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3010702133178711},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2799086570739746},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16790825128555298},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.16333159804344177},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11199614405632019}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.862633466720581},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.805200457572937},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.6538609266281128},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5914349555969238},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.460722953081131},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3010702133178711},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2799086570739746},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16790825128555298},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.16333159804344177},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11199614405632019},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros47612.2022.9981525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981525","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:189355","is_oa":true,"landing_page_url":"https://doi.org/10.1109/IROS47612.2022.9981525>.","pdf_url":"https://elib.dlr.de/189355/1/Muehlbauer_MultiPhaseMultiModalTelemanipulation_IROS2022.pdf","source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1734861","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1734861","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":"","raw_type":"ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:elib.dlr.de:189355","is_oa":true,"landing_page_url":"https://doi.org/10.1109/IROS47612.2022.9981525>.","pdf_url":"https://elib.dlr.de/189355/1/Muehlbauer_MultiPhaseMultiModalTelemanipulation_IROS2022.pdf","source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},"sustainable_development_goals":[{"score":0.49000000953674316,"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320323803","display_name":"Bundesministerium f\u00fcr Wirtschaft und Energie","ror":"https://ror.org/02vgg2808"},{"id":"https://openalex.org/F4320332086","display_name":"Helmholtz Artificial Intelligence Cooperation Unit","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4313026418.pdf","grobid_xml":"https://content.openalex.org/works/W4313026418.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W19399978","https://openalex.org/W44794380","https://openalex.org/W188246052","https://openalex.org/W1500577086","https://openalex.org/W1564897360","https://openalex.org/W1981518010","https://openalex.org/W2032191478","https://openalex.org/W2044544244","https://openalex.org/W2089145243","https://openalex.org/W2103349852","https://openalex.org/W2116796345","https://openalex.org/W2157289187","https://openalex.org/W2167971611","https://openalex.org/W2563976359","https://openalex.org/W2564847218","https://openalex.org/W2613240854","https://openalex.org/W2768152608","https://openalex.org/W3004010150","https://openalex.org/W3041800508","https://openalex.org/W3090543389","https://openalex.org/W3091155422","https://openalex.org/W3129297821","https://openalex.org/W3183526037","https://openalex.org/W3201390501","https://openalex.org/W6758974393","https://openalex.org/W6803376173","https://openalex.org/W6804556493"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2770942502","https://openalex.org/W4281943815","https://openalex.org/W2094105667","https://openalex.org/W2097347938","https://openalex.org/W2164858976","https://openalex.org/W2970545857","https://openalex.org/W2731583012"],"abstract_inverted_index":{"Virtual":[0,13],"Fixtures":[1,14,22],"facilitate":[2],"teleoperation,":[3],"for":[4,28,40,84,93,113,143],"in-stance":[5],"by":[6],"guiding":[7],"the":[8,73,94,107,114,126,159,187,190],"human":[9],"operator.":[10],"Developing":[11],"these":[12,77],"in":[15,150],"tasks":[16],"with":[17,23,61,122],"tight":[18],"tolerances":[19],"remains":[20],"challenging.":[21],"a":[24,33,80,87,132,154,162,169],"high":[25,133],"stiffness":[26,35,134],"allow":[27,39],"more":[29,88],"precise":[30],"guidance,":[31],"whereas":[32],"lower":[34],"is":[36,148,179],"required":[37],"to":[38,68,109,117,135],"corrections.":[41],"We":[42],"observed":[43],"that":[44,176],"many":[45],"assembly":[46,160],"operations":[47],"can":[48],"be":[49,136],"split":[50],"into":[51],"different":[52,62,74],"phases":[53],"-":[54,59],"approaching,":[55],"positioning,":[56],"in-contact":[57],"manipulation":[58],"each":[60],"accuracy":[63],"requirements.":[64],"Therefore,":[65],"we":[66],"propose":[67],"use":[69],"multi-modal":[70],"fixtures,":[71],"satisfying":[72],"requirements":[75],"of":[76,158,161],"phases:":[78],"i.e.":[79],"position-based":[81],"Trajectory":[82],"Fixture":[83,92],"approaching":[85],"and":[86,100,116,181],"accurate":[89],"Visual":[90],"Servoing":[91],"positioning":[95],"phase.":[96],"A":[97],"state":[98],"estimation":[99],"arbitration":[101],"component":[102],"ensures":[103],"smooth":[104],"transitions":[105],"between":[106],"fixtures":[108],"provide":[110],"optimal":[111],"support":[112],"operator":[115,188],"achieve":[118],"global":[119],"availability":[120],"paired":[121],"local":[123],"precision":[124],"at":[125],"same":[127],"time.":[128],"It":[129],"also":[130],"allows":[131],"used":[137],"throughout,":[138],"thus":[139],"achieving":[140],"good":[141],"guidance":[142],"all":[144],"phases.":[145],"The":[146,165],"approach":[147,178],"validated":[149],"an":[151],"application":[152],"from":[153,168,186],"space":[155],"scenario,":[156],"consisting":[157],"CubeSat":[163],"subsystem.":[164],"empirical":[166],"results":[167],"pilot":[170],"study":[171],"on":[172],"this":[173],"task":[174],"show":[175],"our":[177],"faster":[180],"requires":[182],"less":[183],"interaction":[184],"force":[185],"than":[189],"baseline":[191],"method.":[192]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}