{"id":"https://openalex.org/W4312821271","doi":"https://doi.org/10.1109/iros47612.2022.9982065","title":"Feel the Tension: Manipulation of Deformable Linear Objects in Environments with Fixtures using Force Information","display_name":"Feel the Tension: Manipulation of Deformable Linear Objects in Environments with Fixtures using Force Information","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312821271","doi":"https://doi.org/10.1109/iros47612.2022.9982065"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982065","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982065","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2310.06424","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073323607","display_name":"Finn S\u00fcberkr\u00fcb","orcid":"https://orcid.org/0000-0002-2862-1648"},"institutions":[{"id":"https://openalex.org/I83041830","display_name":"Deggendorf Institute of Technology","ror":"https://ror.org/02kw5st29","country_code":"DE","type":"education","lineage":["https://openalex.org/I83041830"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Finn S\u00fcberkr\u00fcb","raw_affiliation_strings":["TC Plattling, Deggendorf Institute of Technology,Germany","TC Plattling, Deggendorf Institute of Technology, Germany"],"affiliations":[{"raw_affiliation_string":"TC Plattling, Deggendorf Institute of Technology,Germany","institution_ids":["https://openalex.org/I83041830"]},{"raw_affiliation_string":"TC Plattling, Deggendorf Institute of Technology, Germany","institution_ids":["https://openalex.org/I83041830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013485773","display_name":"Rita Laezza","orcid":"https://orcid.org/0000-0003-3791-065X"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Rita Laezza","raw_affiliation_strings":["Chalmers University of Technology,Department of Electrical Engineering,Sweden","Department of Electrical Engineering, Chalmers University of Technology, Sweden"],"affiliations":[{"raw_affiliation_string":"Chalmers University of Technology,Department of Electrical Engineering,Sweden","institution_ids":["https://openalex.org/I66862912"]},{"raw_affiliation_string":"Department of Electrical Engineering, Chalmers University of Technology, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066684950","display_name":"Yiannis Karayiannidis","orcid":"https://orcid.org/0000-0001-5129-342X"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]},{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Yiannis Karayiannidis","raw_affiliation_strings":["Chalmers University of Technology,Department of Electrical Engineering,Sweden","Department of Automatic Control, Lund University, Sweden","Department of Electrical Engineering, Chalmers University of Technology, Sweden"],"affiliations":[{"raw_affiliation_string":"Chalmers University of Technology,Department of Electrical Engineering,Sweden","institution_ids":["https://openalex.org/I66862912"]},{"raw_affiliation_string":"Department of Automatic Control, Lund University, Sweden","institution_ids":["https://openalex.org/I187531555"]},{"raw_affiliation_string":"Department of Electrical Engineering, Chalmers University of Technology, Sweden","institution_ids":["https://openalex.org/I66862912"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5073323607"],"corresponding_institution_ids":["https://openalex.org/I83041830"],"apc_list":null,"apc_paid":null,"fwci":6.692,"has_fulltext":true,"cited_by_count":20,"citation_normalized_percentile":{"value":0.98430268,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"11216","last_page":"11222"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9983000159263611,"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":0.9983000159263611,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.9943000078201294,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.682521641254425},{"id":"https://openalex.org/keywords/tension","display_name":"Tension (geology)","score":0.6384994387626648},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4639861583709717},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44664838910102844},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.42251813411712646},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3640223741531372},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11057969927787781},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.05645027756690979}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.682521641254425},{"id":"https://openalex.org/C186068551","wikidata":"https://www.wikidata.org/wiki/Q13255585","display_name":"Tension (geology)","level":3,"score":0.6384994387626648},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4639861583709717},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44664838910102844},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.42251813411712646},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3640223741531372},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11057969927787781},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.05645027756690979},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros47612.2022.9982065","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982065","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:arXiv.org:2310.06424","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2310.06424","pdf_url":"https://arxiv.org/pdf/2310.06424","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:lup.lub.lu.se:2893e719-429b-491e-92bd-92dbd48ad839","is_oa":false,"landing_page_url":"https://lup.lub.lu.se/record/2893e719-429b-491e-92bd-92dbd48ad839","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"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:research.chalmers.se:534225","is_oa":false,"landing_page_url":"https://research.chalmers.se/en/publication/534225","pdf_url":null,"source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:research.chalmers.se:534301","is_oa":false,"landing_page_url":"https://research.chalmers.se/en/publication/7816aff1-bace-4c2a-af14-0d8c346ecaa2","pdf_url":null,"source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2310.06424","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2310.06424","pdf_url":"https://arxiv.org/pdf/2310.06424","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322327","display_name":"Knut och Alice Wallenbergs Stiftelse","ror":"https://ror.org/004hzzk67"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4312821271.pdf"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W1844670856","https://openalex.org/W1935175493","https://openalex.org/W1969865247","https://openalex.org/W1982920857","https://openalex.org/W1985787666","https://openalex.org/W1997944176","https://openalex.org/W2005503440","https://openalex.org/W2045448547","https://openalex.org/W2096404799","https://openalex.org/W2481760325","https://openalex.org/W2563940612","https://openalex.org/W2775488915","https://openalex.org/W2808405904","https://openalex.org/W2910184544","https://openalex.org/W2938604599","https://openalex.org/W2964935532","https://openalex.org/W2976122401","https://openalex.org/W3035007239","https://openalex.org/W3039664495","https://openalex.org/W3089201745","https://openalex.org/W3091248659","https://openalex.org/W3138474611","https://openalex.org/W3164946289","https://openalex.org/W3174948081","https://openalex.org/W3179613134","https://openalex.org/W4210725839","https://openalex.org/W4251308553","https://openalex.org/W4285102293","https://openalex.org/W4288885957","https://openalex.org/W4399469378","https://openalex.org/W6791884328","https://openalex.org/W6797545002"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Humans":[0],"are":[1,63,91],"able":[2],"to":[3],"manipulate":[4],"Deformable":[5],"Linear":[6],"Objects":[7],"(DLOs)":[8],"such":[9,36,79,118],"as":[10,80],"cables":[11],"and":[12,59,88],"wires,":[13],"with":[14],"little":[15],"or":[16],"no":[17],"visual":[18],"information,":[19],"relying":[20],"mostly":[21],"on":[22,66],"force":[23],"sensing.":[24],"In":[25],"this":[26],"work,":[27],"we":[28],"propose":[29],"a":[30,83,98,105,119],"reduced":[31],"DLO":[32],"model":[33,48,86],"which":[34],"enables":[35],"blind":[37],"manipulation":[38,61,89],"by":[39],"keeping":[40],"the":[41],"object":[42],"under":[43],"tension.":[44],"Further,":[45],"an":[46],"online":[47],"estimation":[49,87],"procedure":[50],"is":[51],"also":[52,95],"proposed.":[53],"A":[54],"set":[55],"of":[56,71,82],"elementary":[57],"sliding":[58],"clipping":[60],"primitives":[62,73,90],"defined":[64],"based":[65],"our":[67],"model.":[68],"The":[69,85],"combination":[70],"these":[72],"allows":[74],"for":[75,117],"more":[76],"complex":[77,120],"motions":[78],"winding":[81],"DLO.":[84],"tested":[92],"individually":[93],"but":[94],"together":[96],"in":[97],"real-world":[99],"cable":[100],"harness":[101],"production":[102],"task,":[103],"using":[104],"dual-arm":[106],"YuMi,":[107],"thus":[108],"demonstrating":[109],"that":[110],"force-based":[111],"perception":[112],"can":[113],"be":[114],"sufficient":[115],"even":[116],"scenario.":[121]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":4}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}